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#ifndef __OPENCV_CUDABGSEGM_HPP__
#define __OPENCV_CUDABGSEGM_HPP__

#ifndef __cplusplus
#  error cudabgsegm.hpp header must be compiled as C++
#endif

#include "opencv2/core/cuda.hpp"
#include "opencv2/video/background_segm.hpp"

/**
  @addtogroup cuda
  @{
    @defgroup cudabgsegm Background Segmentation
  @}
 */

namespace cv { namespace cuda {

//! @addtogroup cudabgsegm
//! @{

////////////////////////////////////////////////////
// MOG

/** @brief Gaussian Mixture-based 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 MOG2001.

@sa BackgroundSubtractorMOG

@note
   -   An example on gaussian mixture based background/foreground segmantation can be found at
        opencv_source_code/samples/gpu/bgfg_segm.cpp
 */
class CV_EXPORTS BackgroundSubtractorMOG : public cv::BackgroundSubtractor
{
public:

    using cv::BackgroundSubtractor::apply;
    virtual void apply(InputArray image, OutputArray fgmask, double learningRate, Stream& stream) = 0;

    using cv::BackgroundSubtractor::getBackgroundImage;
    virtual void getBackgroundImage(OutputArray backgroundImage, Stream& stream) const = 0;

    virtual int getHistory() const = 0;
    virtual void setHistory(int nframes) = 0;

    virtual int getNMixtures() const = 0;
    virtual void setNMixtures(int nmix) = 0;

    virtual double getBackgroundRatio() const = 0;
    virtual void setBackgroundRatio(double backgroundRatio) = 0;

    virtual double getNoiseSigma() const = 0;
    virtual void setNoiseSigma(double noiseSigma) = 0;
};

/** @brief Creates mixture-of-gaussian background subtractor

@param history Length of the history.
@param nmixtures Number of Gaussian mixtures.
@param backgroundRatio Background ratio.
@param noiseSigma Noise strength (standard deviation of the brightness or each color channel). 0
means some automatic value.
 */
CV_EXPORTS Ptr<cuda::BackgroundSubtractorMOG>
    createBackgroundSubtractorMOG(int history = 200, int nmixtures = 5,
                                  double backgroundRatio = 0.7, double noiseSigma = 0);

////////////////////////////////////////////////////
// MOG2

/** @brief Gaussian Mixture-based 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 MOG2004.

@sa BackgroundSubtractorMOG2
 */
class CV_EXPORTS BackgroundSubtractorMOG2 : public cv::BackgroundSubtractorMOG2
{
public:
    using cv::BackgroundSubtractorMOG2::apply;
    using cv::BackgroundSubtractorMOG2::getBackgroundImage;

    virtual void apply(InputArray image, OutputArray fgmask, double learningRate, Stream& stream) = 0;

    virtual void getBackgroundImage(OutputArray backgroundImage, Stream& stream) const = 0;
};

/** @brief Creates MOG2 Background Subtractor

@param history Length of the history.
@param varThreshold Threshold on the squared Mahalanobis distance between the pixel and the model
to decide whether a pixel is well described by the background model. This parameter does not
affect the background update.
@param detectShadows If true, the algorithm will detect shadows and mark them. It decreases the
speed a bit, so if you do not need this feature, set the parameter to false.
 */
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 GMG2012.
 */
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 {

#endif /* __OPENCV_CUDABGSEGM_HPP__ */