float codeSize = 1;
int croppingSize = 64;
int threshold = 100;
int width = (int)bufferSize.width;
int height = (int)bufferSize.height;

// do it
if (chaincodeBuff == NULL)
	chaincodeBuff = (unsigned char*)malloc(sizeof(unsigned char) * width * height);

// binarize for chain code
for (int y = 0; y < height; y++)
	for (int x = 0; x < width; x++)
		*(chaincodeBuff + x + y * width) = *(buffer + x + y * width) < threshold ? CRChainCodeFlagUnchecked : CRChainCodeFlagIgnore;

// prepare to parse chain code
CRChainCode *chaincode = new CRChainCode();
chaincode->parsePixel(chaincodeBuff, width, height);

// clear previous buffer
CRCodeList::iterator it = codeListRef->begin();
while(it != codeListRef->end()) {
	SAFE_DELETE(*it);
	++it;
}
codeListRef->clear();

// reload detected codes
if (!chaincode->blobs->empty()) {
	std::list<CRChainCodeBlob*>::iterator blobIterator = chaincode->blobs->begin();
	while(blobIterator != chaincode->blobs->end()) {
		if (!(*blobIterator)->isValid(width, height)) {
			blobIterator++;
			continue;
		}
		CRCode *code = (*blobIterator)->code();	
		if(code) {
			// estimate and optimize pose and position
			code->normalizeCornerForImageCoord(width, height, focalLength, focalLength);
			code->getSimpleHomography(codeSize);
			code->optimizeRTMatrinxWithLevenbergMarquardtMethod();
			
			// cropping code image area
			code->crop(croppingSize, croppingSize, focalLength, focalLength, codeSize, buffer, width, height);
			codeListRef->push_back(code);
		}
		blobIterator++;
	}
}

// Copy image buffer from camera into "pixel".
int width;
int height;
unsigned char *pixel = (unsigned char*)malloc(sizeof(unsigned char) * width * height);

// codeInfoStorage receives the result of visual code recognition.
CRCodeInfoStorage *codeInfoStorage = CRCreateCodeInfoStorage();

// storage to save visual code templates.
CRCodeImageTemplate *codeImageTemplateStorage = CRCreateCodeImageTemplateStorage();

// make template to recognize visual codes.
int c_width;
int c_height;
unsigned char *c_p = (unsigned char*)malloc(sizeof(unsigned char) * c_width * c_height);

/* read images of visual codes you want to recognize */

CRCodeImageTemplate *template = CRCreateCodeImageTemplate(c_p, c_width, c_height);
template->code = codeNumber;
template->size = codeSize;
CRCodeImageTemplateStorageAddNewTemplate(codeImageTemplateStorage, template);
free(c_p);

// Start extraction
CRChainCodeStorage *storage = CRCreateChainCodeStorageByParsingPixel(pixel, width, height);
CRChainCodeStorageDetectCornerWithLSM(storage);
CRCodeInfoStorageAddCodeInfoByExtractingFromChainCode(codeInfoStorage, storage, valueBuffer, width, height, codeImageTemplateStorage);

// Release
CRReleaseChainCodeStorage(&storage);
CRReleaseCodeInfoStorage(&codeInfoStorage);
free(pixel);