Merge pull request #3626 from jet47:cuda-bgsegm-refactoring

modules/cudabgsegm/CMakeLists.txt

@@ -6,4 +6,4 @@ set(the_description "CUDA-accelerated Background Segmentation")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
 
-ocv_define_module(cudabgsegm opencv_video OPTIONAL opencv_imgproc opencv_cudaarithm opencv_cudafilters opencv_cudaimgproc)
+ocv_define_module(cudabgsegm opencv_video)

modules/cudabgsegm/include/opencv2/cudabgsegm.hpp

@@ -147,115 +147,6 @@ CV_EXPORTS Ptr<cuda::BackgroundSubtractorMOG2>
     createBackgroundSubtractorMOG2(int history = 500, double varThreshold = 16,
                                    bool detectShadows = true);
 
-////////////////////////////////////////////////////
-// GMG
-
-/** @brief Background/Foreground Segmentation Algorithm.
-
-The class discriminates between foreground and background pixels by building and maintaining a model
-of the background. Any pixel which does not fit this model is then deemed to be foreground. The
-class implements algorithm described in @cite Gold2012 .
- */
-class CV_EXPORTS BackgroundSubtractorGMG : public cv::BackgroundSubtractor
-{
-public:
-    using cv::BackgroundSubtractor::apply;
-    virtual void apply(InputArray image, OutputArray fgmask, double learningRate, Stream& stream) = 0;
-
-    virtual int getMaxFeatures() const = 0;
-    virtual void setMaxFeatures(int maxFeatures) = 0;
-
-    virtual double getDefaultLearningRate() const = 0;
-    virtual void setDefaultLearningRate(double lr) = 0;
-
-    virtual int getNumFrames() const = 0;
-    virtual void setNumFrames(int nframes) = 0;
-
-    virtual int getQuantizationLevels() const = 0;
-    virtual void setQuantizationLevels(int nlevels) = 0;
-
-    virtual double getBackgroundPrior() const = 0;
-    virtual void setBackgroundPrior(double bgprior) = 0;
-
-    virtual int getSmoothingRadius() const = 0;
-    virtual void setSmoothingRadius(int radius) = 0;
-
-    virtual double getDecisionThreshold() const = 0;
-    virtual void setDecisionThreshold(double thresh) = 0;
-
-    virtual bool getUpdateBackgroundModel() const = 0;
-    virtual void setUpdateBackgroundModel(bool update) = 0;
-
-    virtual double getMinVal() const = 0;
-    virtual void setMinVal(double val) = 0;
-
-    virtual double getMaxVal() const = 0;
-    virtual void setMaxVal(double val) = 0;
-};
-
-/** @brief Creates GMG Background Subtractor
-
-@param initializationFrames Number of frames of video to use to initialize histograms.
-@param decisionThreshold Value above which pixel is determined to be FG.
- */
-CV_EXPORTS Ptr<cuda::BackgroundSubtractorGMG>
-    createBackgroundSubtractorGMG(int initializationFrames = 120, double decisionThreshold = 0.8);
-
-////////////////////////////////////////////////////
-// FGD
-
-/** @brief The class discriminates between foreground and background pixels by building and maintaining a model
-of the background.
-
-Any pixel which does not fit this model is then deemed to be foreground. The class implements
-algorithm described in @cite FGD2003 .
-@sa BackgroundSubtractor
- */
-class CV_EXPORTS BackgroundSubtractorFGD : public cv::BackgroundSubtractor
-{
-public:
-    /** @brief Returns the output foreground regions calculated by findContours.
-
-    @param foreground_regions Output array (CPU memory).
-     */
-    virtual void getForegroundRegions(OutputArrayOfArrays foreground_regions) = 0;
-};
-
-struct CV_EXPORTS FGDParams
-{
-    int Lc;  //!< Quantized levels per 'color' component. Power of two, typically 32, 64 or 128.
-    int N1c; //!< Number of color vectors used to model normal background color variation at a given pixel.
-    int N2c; //!< Number of color vectors retained at given pixel.  Must be > N1c, typically ~ 5/3 of N1c.
-    //!< Used to allow the first N1c vectors to adapt over time to changing background.
-
-    int Lcc;  //!< Quantized levels per 'color co-occurrence' component.  Power of two, typically 16, 32 or 64.
-    int N1cc; //!< Number of color co-occurrence vectors used to model normal background color variation at a given pixel.
-    int N2cc; //!< Number of color co-occurrence vectors retained at given pixel.  Must be > N1cc, typically ~ 5/3 of N1cc.
-    //!< Used to allow the first N1cc vectors to adapt over time to changing background.
-
-    bool is_obj_without_holes; //!< If TRUE we ignore holes within foreground blobs. Defaults to TRUE.
-    int perform_morphing;     //!< Number of erode-dilate-erode foreground-blob cleanup iterations.
-    //!< These erase one-pixel junk blobs and merge almost-touching blobs. Default value is 1.
-
-    float alpha1; //!< How quickly we forget old background pixel values seen. Typically set to 0.1.
-    float alpha2; //!< "Controls speed of feature learning". Depends on T. Typical value circa 0.005.
-    float alpha3; //!< Alternate to alpha2, used (e.g.) for quicker initial convergence. Typical value 0.1.
-
-    float delta;   //!< Affects color and color co-occurrence quantization, typically set to 2.
-    float T;       //!< A percentage value which determines when new features can be recognized as new background. (Typically 0.9).
-    float minArea; //!< Discard foreground blobs whose bounding box is smaller than this threshold.
-
-    //! default Params
-    FGDParams();
-};
-
-/** @brief Creates FGD Background Subtractor
-
-@param params Algorithm's parameters. See @cite FGD2003 for explanation.
- */
-CV_EXPORTS Ptr<cuda::BackgroundSubtractorFGD>
-    createBackgroundSubtractorFGD(const FGDParams& params = FGDParams());
-
 //! @}
 
 }} // namespace cv { namespace cuda {

modules/cudabgsegm/perf/perf_bgsegm.cpp

@@ -42,10 +42,6 @@
 
 #include "perf_precomp.hpp"
 
-#ifdef HAVE_OPENCV_CUDAIMGPROC
-#  include "opencv2/cudaimgproc.hpp"
-#endif
-
 using namespace std;
 using namespace testing;
 using namespace perf;
@@ -63,83 +59,6 @@ using namespace perf;
 #  define BUILD_WITH_VIDEO_INPUT_SUPPORT 0
 #endif
 
-//////////////////////////////////////////////////////
-// FGDStatModel
-
-#if BUILD_WITH_VIDEO_INPUT_SUPPORT
-
-DEF_PARAM_TEST_1(Video, string);
-
-PERF_TEST_P(Video, FGDStatModel,
-            Values(string("gpu/video/768x576.avi")))
-{
-    const int numIters = 10;
-
-    declare.time(60);
-
-    const string inputFile = perf::TestBase::getDataPath(GetParam());
-
-    cv::VideoCapture cap(inputFile);
-    ASSERT_TRUE(cap.isOpened());
-
-    cv::Mat frame;
-    cap >> frame;
-    ASSERT_FALSE(frame.empty());
-
-    if (PERF_RUN_CUDA())
-    {
-        cv::cuda::GpuMat d_frame(frame), foreground;
-
-        cv::Ptr<cv::cuda::BackgroundSubtractorFGD> d_fgd = cv::cuda::createBackgroundSubtractorFGD();
-        d_fgd->apply(d_frame, foreground);
-
-        int i = 0;
-
-        // collect performance data
-        for (; i < numIters; ++i)
-        {
-            cap >> frame;
-            ASSERT_FALSE(frame.empty());
-
-            d_frame.upload(frame);
-
-            startTimer();
-            if(!next())
-                break;
-
-            d_fgd->apply(d_frame, foreground);
-
-            stopTimer();
-        }
-
-        // process last frame in sequence to get data for sanity test
-        for (; i < numIters; ++i)
-        {
-            cap >> frame;
-            ASSERT_FALSE(frame.empty());
-
-            d_frame.upload(frame);
-
-            d_fgd->apply(d_frame, foreground);
-        }
-
-        CUDA_SANITY_CHECK(foreground, 1e-2, ERROR_RELATIVE);
-
-#ifdef HAVE_OPENCV_CUDAIMGPROC
-        cv::cuda::GpuMat background3, background;
-        d_fgd->getBackgroundImage(background3);
-        cv::cuda::cvtColor(background3, background, cv::COLOR_BGR2BGRA);
-        CUDA_SANITY_CHECK(background, 1e-2, ERROR_RELATIVE);
-#endif
-    }
-    else
-    {
-        FAIL_NO_CPU();
-    }
-}
-
-#endif
-
 //////////////////////////////////////////////////////
 // MOG
 
@@ -484,118 +403,3 @@ PERF_TEST_P(Video_Cn, MOG2GetBackgroundImage,
 }
 
 #endif
-
-//////////////////////////////////////////////////////
-// GMG
-
-#if BUILD_WITH_VIDEO_INPUT_SUPPORT
-
-DEF_PARAM_TEST(Video_Cn_MaxFeatures, string, MatCn, int);
-
-PERF_TEST_P(Video_Cn_MaxFeatures, GMG,
-            Combine(Values(string("gpu/video/768x576.avi")),
-                    CUDA_CHANNELS_1_3_4,
-                    Values(20, 40, 60)))
-{
-    const int numIters = 150;
-
-    const std::string inputFile = perf::TestBase::getDataPath(GET_PARAM(0));
-    const int cn = GET_PARAM(1);
-    const int maxFeatures = GET_PARAM(2);
-
-    cv::VideoCapture cap(inputFile);
-    ASSERT_TRUE(cap.isOpened());
-
-    cv::Mat frame;
-    cap >> frame;
-    ASSERT_FALSE(frame.empty());
-
-    if (cn != 3)
-    {
-        cv::Mat temp;
-        if (cn == 1)
-            cv::cvtColor(frame, temp, cv::COLOR_BGR2GRAY);
-        else
-            cv::cvtColor(frame, temp, cv::COLOR_BGR2BGRA);
-        cv::swap(temp, frame);
-    }
-
-    if (PERF_RUN_CUDA())
-    {
-        cv::cuda::GpuMat d_frame(frame);
-        cv::cuda::GpuMat foreground;
-
-        cv::Ptr<cv::cuda::BackgroundSubtractorGMG> d_gmg = cv::cuda::createBackgroundSubtractorGMG();
-        d_gmg->setMaxFeatures(maxFeatures);
-
-        d_gmg->apply(d_frame, foreground);
-
-        int i = 0;
-
-        // collect performance data
-        for (; i < numIters; ++i)
-        {
-            cap >> frame;
-            if (frame.empty())
-            {
-                cap.release();
-                cap.open(inputFile);
-                cap >> frame;
-            }
-
-            if (cn != 3)
-            {
-                cv::Mat temp;
-                if (cn == 1)
-                    cv::cvtColor(frame, temp, cv::COLOR_BGR2GRAY);
-                else
-                    cv::cvtColor(frame, temp, cv::COLOR_BGR2BGRA);
-                cv::swap(temp, frame);
-            }
-
-            d_frame.upload(frame);
-
-            startTimer();
-            if(!next())
-                break;
-
-            d_gmg->apply(d_frame, foreground);
-
-            stopTimer();
-        }
-
-        // process last frame in sequence to get data for sanity test
-        for (; i < numIters; ++i)
-        {
-            cap >> frame;
-            if (frame.empty())
-            {
-                cap.release();
-                cap.open(inputFile);
-                cap >> frame;
-            }
-
-            if (cn != 3)
-            {
-                cv::Mat temp;
-                if (cn == 1)
-                    cv::cvtColor(frame, temp, cv::COLOR_BGR2GRAY);
-                else
-                    cv::cvtColor(frame, temp, cv::COLOR_BGR2BGRA);
-                cv::swap(temp, frame);
-            }
-
-            d_frame.upload(frame);
-
-            d_gmg->apply(d_frame, foreground);
-        }
-
-        CUDA_SANITY_CHECK(foreground);
-    }
-    else
-    {
-        FAIL_NO_CPU();
-    }
-}
-
-#endif

modules/cudabgsegm/src/precomp.hpp

@@ -51,16 +51,4 @@
 
 #include "opencv2/opencv_modules.hpp"
 
-#ifdef HAVE_OPENCV_CUDAARITHM
-#  include "opencv2/cudaarithm.hpp"
-#endif
-
-#ifdef HAVE_OPENCV_CUDAFILTERS
-#  include "opencv2/cudafilters.hpp"
-#endif
-
-#ifdef HAVE_OPENCV_CUDAIMGPROC
-#  include "opencv2/cudaimgproc.hpp"
-#endif
-
 #endif /* __OPENCV_PRECOMP_H__ */

modules/cudalegacy/CMakeLists.txt

@@ -6,4 +6,4 @@ set(the_description "CUDA-accelerated Computer Vision (legacy)")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4130 /wd4324 /wd4512 /wd4310 -Wundef -Wmissing-declarations -Wuninitialized -Wshadow)
 
-ocv_define_module(cudalegacy opencv_core OPTIONAL opencv_objdetect)
+ocv_define_module(cudalegacy opencv_core opencv_video OPTIONAL opencv_objdetect opencv_imgproc opencv_cudaarithm opencv_cudafilters opencv_cudaimgproc)

modules/cudalegacy/include/opencv2/cudalegacy.hpp

@@ -49,6 +49,7 @@
 #include "opencv2/cudalegacy/NCVPyramid.hpp"
 #include "opencv2/cudalegacy/NCVHaarObjectDetection.hpp"
 #include "opencv2/cudalegacy/NCVBroxOpticalFlow.hpp"
+#include "opencv2/video/background_segm.hpp"
 
 /**
   @addtogroup cuda
@@ -59,6 +60,9 @@
 
 namespace cv { namespace cuda {
 
+//! @addtogroup cudalegacy
+//! @{
+
 class CV_EXPORTS ImagePyramid : public Algorithm
 {
 public:
@@ -67,6 +71,117 @@ public:
 
 CV_EXPORTS Ptr<ImagePyramid> createImagePyramid(InputArray img, int nLayers = -1, Stream& stream = Stream::Null());
 
+////////////////////////////////////////////////////
+// GMG
+
+/** @brief Background/Foreground Segmentation Algorithm.
+
+The class discriminates between foreground and background pixels by building and maintaining a model
+of the background. Any pixel which does not fit this model is then deemed to be foreground. The
+class implements algorithm described in @cite Gold2012 .
+ */
+class CV_EXPORTS BackgroundSubtractorGMG : public cv::BackgroundSubtractor
+{
+public:
+    using cv::BackgroundSubtractor::apply;
+    virtual void apply(InputArray image, OutputArray fgmask, double learningRate, Stream& stream) = 0;
+
+    virtual int getMaxFeatures() const = 0;
+    virtual void setMaxFeatures(int maxFeatures) = 0;
+
+    virtual double getDefaultLearningRate() const = 0;
+    virtual void setDefaultLearningRate(double lr) = 0;
+
+    virtual int getNumFrames() const = 0;
+    virtual void setNumFrames(int nframes) = 0;
+
+    virtual int getQuantizationLevels() const = 0;
+    virtual void setQuantizationLevels(int nlevels) = 0;
+
+    virtual double getBackgroundPrior() const = 0;
+    virtual void setBackgroundPrior(double bgprior) = 0;
+
+    virtual int getSmoothingRadius() const = 0;
+    virtual void setSmoothingRadius(int radius) = 0;
+
+    virtual double getDecisionThreshold() const = 0;
+    virtual void setDecisionThreshold(double thresh) = 0;
+
+    virtual bool getUpdateBackgroundModel() const = 0;
+    virtual void setUpdateBackgroundModel(bool update) = 0;
+
+    virtual double getMinVal() const = 0;
+    virtual void setMinVal(double val) = 0;
+
+    virtual double getMaxVal() const = 0;
+    virtual void setMaxVal(double val) = 0;
+};
+
+/** @brief Creates GMG Background Subtractor
+
+@param initializationFrames Number of frames of video to use to initialize histograms.
+@param decisionThreshold Value above which pixel is determined to be FG.
+ */
+CV_EXPORTS Ptr<cuda::BackgroundSubtractorGMG>
+    createBackgroundSubtractorGMG(int initializationFrames = 120, double decisionThreshold = 0.8);
+
+////////////////////////////////////////////////////
+// FGD
+
+/** @brief The class discriminates between foreground and background pixels by building and maintaining a model
+of the background.
+
+Any pixel which does not fit this model is then deemed to be foreground. The class implements
+algorithm described in @cite FGD2003 .
+@sa BackgroundSubtractor
+ */
+class CV_EXPORTS BackgroundSubtractorFGD : public cv::BackgroundSubtractor
+{
+public:
+    /** @brief Returns the output foreground regions calculated by findContours.
+
+    @param foreground_regions Output array (CPU memory).
+     */
+    virtual void getForegroundRegions(OutputArrayOfArrays foreground_regions) = 0;
+};
+
+struct CV_EXPORTS FGDParams
+{
+    int Lc;  //!< Quantized levels per 'color' component. Power of two, typically 32, 64 or 128.
+    int N1c; //!< Number of color vectors used to model normal background color variation at a given pixel.
+    int N2c; //!< Number of color vectors retained at given pixel.  Must be > N1c, typically ~ 5/3 of N1c.
+    //!< Used to allow the first N1c vectors to adapt over time to changing background.
+
+    int Lcc;  //!< Quantized levels per 'color co-occurrence' component.  Power of two, typically 16, 32 or 64.
+    int N1cc; //!< Number of color co-occurrence vectors used to model normal background color variation at a given pixel.
+    int N2cc; //!< Number of color co-occurrence vectors retained at given pixel.  Must be > N1cc, typically ~ 5/3 of N1cc.
+    //!< Used to allow the first N1cc vectors to adapt over time to changing background.
+
+    bool is_obj_without_holes; //!< If TRUE we ignore holes within foreground blobs. Defaults to TRUE.
+    int perform_morphing;     //!< Number of erode-dilate-erode foreground-blob cleanup iterations.
+    //!< These erase one-pixel junk blobs and merge almost-touching blobs. Default value is 1.
+
+    float alpha1; //!< How quickly we forget old background pixel values seen. Typically set to 0.1.
+    float alpha2; //!< "Controls speed of feature learning". Depends on T. Typical value circa 0.005.
+    float alpha3; //!< Alternate to alpha2, used (e.g.) for quicker initial convergence. Typical value 0.1.
+
+    float delta;   //!< Affects color and color co-occurrence quantization, typically set to 2.
+    float T;       //!< A percentage value which determines when new features can be recognized as new background. (Typically 0.9).
+    float minArea; //!< Discard foreground blobs whose bounding box is smaller than this threshold.
+
+    //! default Params
+    FGDParams();
+};
+
+/** @brief Creates FGD Background Subtractor
+
+@param params Algorithm's parameters. See @cite FGD2003 for explanation.
+ */
+CV_EXPORTS Ptr<cuda::BackgroundSubtractorFGD>
+    createBackgroundSubtractorFGD(const FGDParams& params = FGDParams());
+
+//! @}
+
 }}
 
 #endif /* __OPENCV_CUDALEGACY_HPP__ */

modules/cudalegacy/perf/perf_bgsegm.cpp

@@ -0,0 +1,256 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "perf_precomp.hpp"
+
+#ifdef HAVE_OPENCV_CUDAIMGPROC
+#  include "opencv2/cudaimgproc.hpp"
+#endif
+
+using namespace std;
+using namespace testing;
+using namespace perf;
+
+#if defined(HAVE_XINE)         || \
+    defined(HAVE_GSTREAMER)    || \
+    defined(HAVE_QUICKTIME)    || \
+    defined(HAVE_QTKIT)        || \
+    defined(HAVE_AVFOUNDATION) || \
+    defined(HAVE_FFMPEG)       || \
+    defined(WIN32) /* assume that we have ffmpeg */
+
+#  define BUILD_WITH_VIDEO_INPUT_SUPPORT 1
+#else
+#  define BUILD_WITH_VIDEO_INPUT_SUPPORT 0
+#endif
+
+//////////////////////////////////////////////////////
+// FGDStatModel
+
+#if BUILD_WITH_VIDEO_INPUT_SUPPORT
+
+DEF_PARAM_TEST_1(Video, string);
+
+PERF_TEST_P(Video, FGDStatModel,
+            Values(string("gpu/video/768x576.avi")))
+{
+    const int numIters = 10;
+
+    declare.time(60);
+
+    const string inputFile = perf::TestBase::getDataPath(GetParam());
+
+    cv::VideoCapture cap(inputFile);
+    ASSERT_TRUE(cap.isOpened());
+
+    cv::Mat frame;
+    cap >> frame;
+    ASSERT_FALSE(frame.empty());
+
+    if (PERF_RUN_CUDA())
+    {
+        cv::cuda::GpuMat d_frame(frame), foreground;
+
+        cv::Ptr<cv::cuda::BackgroundSubtractorFGD> d_fgd = cv::cuda::createBackgroundSubtractorFGD();
+        d_fgd->apply(d_frame, foreground);
+
+        int i = 0;
+
+        // collect performance data
+        for (; i < numIters; ++i)
+        {
+            cap >> frame;
+            ASSERT_FALSE(frame.empty());
+
+            d_frame.upload(frame);
+
+            startTimer();
+            if(!next())
+                break;
+
+            d_fgd->apply(d_frame, foreground);
+
+            stopTimer();
+        }
+
+        // process last frame in sequence to get data for sanity test
+        for (; i < numIters; ++i)
+        {
+            cap >> frame;
+            ASSERT_FALSE(frame.empty());
+
+            d_frame.upload(frame);
+
+            d_fgd->apply(d_frame, foreground);
+        }
+
+#ifdef HAVE_OPENCV_CUDAIMGPROC
+        cv::cuda::GpuMat background3, background;
+        d_fgd->getBackgroundImage(background3);
+        cv::cuda::cvtColor(background3, background, cv::COLOR_BGR2BGRA);
+        CUDA_SANITY_CHECK(background, 1e-2, ERROR_RELATIVE);
+#endif
+    }
+    else
+    {
+        FAIL_NO_CPU();
+    }
+
+    SANITY_CHECK_NOTHING();
+}
+
+#endif
+
+//////////////////////////////////////////////////////
+// GMG
+
+#if BUILD_WITH_VIDEO_INPUT_SUPPORT
+
+DEF_PARAM_TEST(Video_Cn_MaxFeatures, string, MatCn, int);
+
+PERF_TEST_P(Video_Cn_MaxFeatures, GMG,
+            Combine(Values(string("gpu/video/768x576.avi")),
+                    CUDA_CHANNELS_1_3_4,
+                    Values(20, 40, 60)))
+{
+    const int numIters = 150;
+
+    const std::string inputFile = perf::TestBase::getDataPath(GET_PARAM(0));
+    const int cn = GET_PARAM(1);
+    const int maxFeatures = GET_PARAM(2);
+
+    cv::VideoCapture cap(inputFile);
+    ASSERT_TRUE(cap.isOpened());
+
+    cv::Mat frame;
+    cap >> frame;
+    ASSERT_FALSE(frame.empty());
+
+    if (cn != 3)
+    {
+        cv::Mat temp;
+        if (cn == 1)
+            cv::cvtColor(frame, temp, cv::COLOR_BGR2GRAY);
+        else
+            cv::cvtColor(frame, temp, cv::COLOR_BGR2BGRA);
+        cv::swap(temp, frame);
+    }
+
+    if (PERF_RUN_CUDA())
+    {
+        cv::cuda::GpuMat d_frame(frame);
+        cv::cuda::GpuMat foreground;
+
+        cv::Ptr<cv::cuda::BackgroundSubtractorGMG> d_gmg = cv::cuda::createBackgroundSubtractorGMG();
+        d_gmg->setMaxFeatures(maxFeatures);
+
+        d_gmg->apply(d_frame, foreground);
+
+        int i = 0;
+
+        // collect performance data
+        for (; i < numIters; ++i)
+        {
+            cap >> frame;
+            if (frame.empty())
+            {
+                cap.release();
+                cap.open(inputFile);
+                cap >> frame;
+            }
+
+            if (cn != 3)
+            {
+                cv::Mat temp;
+                if (cn == 1)
+                    cv::cvtColor(frame, temp, cv::COLOR_BGR2GRAY);
+                else
+                    cv::cvtColor(frame, temp, cv::COLOR_BGR2BGRA);
+                cv::swap(temp, frame);
+            }
+
+            d_frame.upload(frame);
+
+            startTimer();
+            if(!next())
+                break;
+
+            d_gmg->apply(d_frame, foreground);
+
+            stopTimer();
+        }
+
+        // process last frame in sequence to get data for sanity test
+        for (; i < numIters; ++i)
+        {
+            cap >> frame;
+            if (frame.empty())
+            {
+                cap.release();
+                cap.open(inputFile);
+                cap >> frame;
+            }
+
+            if (cn != 3)
+            {
+                cv::Mat temp;
+                if (cn == 1)
+                    cv::cvtColor(frame, temp, cv::COLOR_BGR2GRAY);
+                else
+                    cv::cvtColor(frame, temp, cv::COLOR_BGR2BGRA);
+                cv::swap(temp, frame);
+            }
+
+            d_frame.upload(frame);
+
+            d_gmg->apply(d_frame, foreground);
+        }
+    }
+    else
+    {
+        FAIL_NO_CPU();
+    }
+
+    SANITY_CHECK_NOTHING();
+}
+
+#endif

modules/cudalegacy/perf/perf_main.cpp

@@ -0,0 +1,47 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "perf_precomp.hpp"
+
+using namespace perf;
+
+CV_PERF_TEST_CUDA_MAIN(cudalegacy)

modules/cudalegacy/perf/perf_precomp.hpp

@@ -0,0 +1,66 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __GNUC__
+#  pragma GCC diagnostic ignored "-Wmissing-declarations"
+#  if defined __clang__ || defined __APPLE__
+#    pragma GCC diagnostic ignored "-Wmissing-prototypes"
+#    pragma GCC diagnostic ignored "-Wextra"
+#  endif
+#endif
+
+#ifndef __OPENCV_PERF_PRECOMP_HPP__
+#define __OPENCV_PERF_PRECOMP_HPP__
+
+#include "opencv2/ts.hpp"
+#include "opencv2/ts/cuda_perf.hpp"
+
+#include "opencv2/cudalegacy.hpp"
+#include "opencv2/video.hpp"
+
+#include "opencv2/opencv_modules.hpp"
+
+#ifdef GTEST_CREATE_SHARED_LIBRARY
+#error no modules except ts should have GTEST_CREATE_SHARED_LIBRARY defined
+#endif
+
+#endif

modules/cudalegacy/src/precomp.hpp

@@ -56,6 +56,18 @@
 #  include "opencv2/objdetect.hpp"
 #endif
 
+#ifdef HAVE_OPENCV_CUDAARITHM
+#  include "opencv2/cudaarithm.hpp"
+#endif
+
+#ifdef HAVE_OPENCV_CUDAFILTERS
+#  include "opencv2/cudafilters.hpp"
+#endif
+
+#ifdef HAVE_OPENCV_CUDAIMGPROC
+#  include "opencv2/cudaimgproc.hpp"
+#endif
+
 #include "opencv2/core/private.cuda.hpp"
 #include "opencv2/cudalegacy/private.hpp"
 

samples/gpu/bgfg_segm.cpp

@@ -4,6 +4,7 @@
 #include "opencv2/core.hpp"
 #include "opencv2/core/utility.hpp"
 #include "opencv2/cudabgsegm.hpp"
+#include "opencv2/cudalegacy.hpp"
 #include "opencv2/video.hpp"
 #include "opencv2/highgui.hpp"