move obsolete algorithms from cudabgsegm to cudalegacy:

* GMG
* FGD

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__ */