Background subtractor GMG: removed flexitype, fixed build errors.

modules/video/include/opencv2/video/background_segm.hpp

@@ -199,75 +199,7 @@ protected:
  */
 class CV_EXPORTS BackgroundSubtractorGMG: public cv::BackgroundSubtractor
 {
-private:
-    /**
-     *  A general flexible datatype.
-     *
-     *  Used internally to enable background subtraction algorithm to be robust to any input Mat type.
-     *  Datatype can be char, unsigned char, int, unsigned int, long int, float, or double.
-     */
-    union flexitype{
-        char c;
-        uchar uc;
-        int i;
-        unsigned int ui;
-        long int li;
-        float f;
-        double d;
-
-        flexitype(){d = 0.0;}  //!< Default constructor, set all bits of the union to 0.
-        flexitype(char cval){c = cval;} //!< Char type constructor
-
-        bool operator ==(flexitype& rhs)
-        {
-            return d == rhs.d;
-        }
-
-        //! Char type assignment operator
-        flexitype& operator =(char cval){
-            if (this->c == cval){return *this;}
-            c = cval; return *this;
-        }
-        flexitype(unsigned char ucval){uc = ucval;} //!< unsigned char type constructor
-
-        //! unsigned char type assignment operator
-        flexitype& operator =(unsigned char ucval){
-            if (this->uc == ucval){return *this;}
-            uc = ucval; return *this;
-        }
-        flexitype(int ival){i = ival;} //!< int type constructor
-        //! int type assignment operator
-        flexitype& operator =(int ival){
-            if (this->i == ival){return *this;}
-            i = ival; return *this;
-        }
-        flexitype(unsigned int uival){ui = uival;} //!< unsigned int type constructor
-
-        //! unsigned int type assignment operator
-        flexitype& operator =(unsigned int uival){
-            if (this->ui == uival){return *this;}
-            ui = uival; return *this;
-        }
-        flexitype(float fval){f = fval;} //!< float type constructor
-        //! float type assignment operator
-        flexitype& operator =(float fval){
-            if (this->f == fval){return *this;}
-            f = fval; return *this;
-        }
-        flexitype(long int lival){li = lival;} //!< long int type constructor
-        //! long int type assignment operator
-        flexitype& operator =(long int lival){
-            if (this->li == lival){return *this;}
-            li = lival; return *this;
-        }
-
-        flexitype(double dval){d=dval;} //!< double type constructor
-        //! double type assignment operator
-        flexitype& operator =(double dval){
-            if (this->d == dval){return *this;}
-        d = dval; return *this;
-        }
-    };
+protected:
     /**
      *  Used internally to represent a single feature in a histogram.
      *  Feature is a color and an associated likelihood (weight in the histogram).
@@ -387,7 +319,7 @@ public:
      * @param min   minimum value taken on by pixels in image sequence. Usually 0
      * @param max   maximum value taken on by pixels in image sequence. e.g. 1.0 or 255
      */
-    void    initializeType(InputArray image, flexitype min, flexitype max);
+    void    initializeType(InputArray image, double min, double max);
     /**
      * Selectively update the background model. Only update background model for pixels identified
      * as background.
@@ -417,24 +349,20 @@ protected:
     double  decisionThreshold; //!< value above which pixel is determined to be FG.
     int     smoothingRadius;  //!< smoothing radius, in pixels, for cleaning up FG image.
 
-    flexitype maxVal, minVal;
+    double maxVal, minVal;
 
     /*
      * General Parameters
      */
-    size_t      imWidth;        //!< width of image.
-    size_t      imHeight;       //!< height of image.
-    size_t      numPixels;
+    int      imWidth;        //!< width of image.
+    int      imHeight;       //!< height of image.
+    size_t   numPixels;
 
-    int                 imageDepth;  //!< Depth of image, e.g. CV_8U
-    unsigned int        numChannels; //!< Number of channels in image.
+    unsigned int numChannels; //!< Number of channels in image.
 
     bool    isDataInitialized;
     //!< After general parameters are set, data structures must be initialized.
 
-    size_t  elemSize;  //!< store image mat element sizes
-    size_t  elemSize1;
-
     /*
      * Data Structures
      */

modules/video/src/bgfg_gmg.cpp

@@ -67,7 +67,7 @@ BackgroundSubtractorGMG::BackgroundSubtractorGMG()
     smoothingRadius = 7;
 }
 
-void BackgroundSubtractorGMG::initializeType(InputArray _image,flexitype min, flexitype max)
+void BackgroundSubtractorGMG::initializeType(InputArray _image, double min, double max)
 {
     minVal = min;
     maxVal = max;
@@ -114,7 +114,6 @@ void BackgroundSubtractorGMG::initializeType(InputArray _image,flexitype min, fl
      * Detect and accommodate the image depth
      */
     Mat image = _image.getMat();
-    imageDepth = image.depth();  // 32f, 8u, etc.
     numChannels = image.channels();
 
     /*
@@ -127,16 +126,15 @@ void BackgroundSubtractorGMG::initializeType(InputArray _image,flexitype min, fl
     /*
      * Data Structure Initialization
      */
-    Size imsize = image.size();
-    imWidth = imsize.width;
-    imHeight = imsize.height;
-    numPixels = imWidth*imHeight;
+    imWidth = image.cols;
+    imHeight = image.rows;
+    numPixels = image.total();
     pixels.resize(numPixels);
     frameNum = 0;
 
     // used to iterate through matrix of type unknown at compile time
-    elemSize = image.elemSize();
-    elemSize1 = image.elemSize1();
+    //elemSize = image.elemSize();
+    //elemSize1 = image.elemSize1();
 
     vector<PixelModelGMG>::iterator pixel;
     vector<PixelModelGMG>::iterator pixel_end = pixels.end();
@@ -145,8 +143,8 @@ void BackgroundSubtractorGMG::initializeType(InputArray _image,flexitype min, fl
         pixel->setMaxFeatures(maxFeatures);
     }
 
-    fgMaskImage = Mat::zeros(imHeight,imWidth,CV_8UC1);  // 8-bit unsigned mask. 255 for FG, 0 for BG
-    posteriorImage = Mat::zeros(imHeight,imWidth,CV_32FC1);  // float for storing probabilities. Can be viewed directly with imshow.
+    fgMaskImage = Mat::zeros(imHeight, imWidth, CV_8UC1);  // 8-bit unsigned mask. 255 for FG, 0 for BG
+    posteriorImage = Mat::zeros(imHeight, imWidth, CV_32FC1);  // float for storing probabilities. Can be viewed directly with imshow.
     isDataInitialized = true;
 }
 
@@ -171,7 +169,7 @@ void BackgroundSubtractorGMG::operator()(InputArray _image, OutputArray _fgmask,
 
     Mat image = _image.getMat();
 
-    _fgmask.create(Size(imHeight,imWidth),CV_8U);
+    _fgmask.create(imHeight,imWidth,CV_8U);
     fgMaskImage = _fgmask.getMat();  // 8-bit unsigned mask. 255 for FG, 0 for BG
 
     /*
@@ -183,54 +181,32 @@ void BackgroundSubtractorGMG::operator()(InputArray _image, OutputArray _fgmask,
     vector<PixelModelGMG>::iterator pixel;
     vector<PixelModelGMG>::iterator pixel_end = pixels.end();
     size_t i;
-//#pragma omp parallel
+    //#pragma omp parallel
     for (i = 0, pixel=pixels.begin(); pixel != pixel_end; ++i,++pixel)
     {
         HistogramFeatureGMG newFeature;
         newFeature.color.clear();
+        int irow = int(i / imWidth);
+        int icol = i % imWidth;
         for (size_t c = 0; c < numChannels; ++c)
         {
             /*
              * Perform quantization. in each channel. (color-min)*(levels)/(max-min).
              * Shifts min to 0 and scales, finally casting to an int.
              */
-            size_t quantizedColor;
-            // pixel at data+elemSize*i. Individual channel c at data+elemSize*i+elemSize1*c
-            if (imageDepth == CV_8U)
-            {
-                uchar *color = (uchar*)(image.data+elemSize*i+elemSize1*c);
-                quantizedColor = (size_t)((double)(*color-minVal.uc)*quantizationLevels/(maxVal.uc-minVal.uc));
-            }
-            else if (imageDepth == CV_8S)
-            {
-                char *color = (char*)(image.data+elemSize*i+elemSize1*c);
-                quantizedColor = (size_t)((double)(*color-minVal.c)*quantizationLevels/(maxVal.c-minVal.c));
-            }
-            else if (imageDepth == CV_16U)
-            {
-                unsigned int *color = (unsigned int*)(image.data+elemSize*i+elemSize1*c);
-                quantizedColor = (size_t)((double)(*color-minVal.ui)*quantizationLevels/(maxVal.ui-minVal.ui));
-            }
-            else if (imageDepth == CV_16S)
-            {
-                int *color = (int*)(image.data+elemSize*i+elemSize1*c);
-                quantizedColor = (size_t)((double)(*color-minVal.i)*quantizationLevels/(maxVal.i-minVal.i));
-            }
-            else if (imageDepth == CV_32F)
-            {
-                float *color = (float*)image.data+elemSize*i+elemSize1*c;
-                quantizedColor = (size_t)((double)(*color-minVal.ui)*quantizationLevels/(maxVal.ui-minVal.ui));
-            }
-            else if (imageDepth == CV_32S)
-            {
-                long int *color = (long int*)(image.data+elemSize*i+elemSize1*c);
-                quantizedColor = (size_t)((double)(*color-minVal.li)*quantizationLevels/(maxVal.li-minVal.li));
-            }
-            else if (imageDepth == CV_64F)
+            double color;
+            switch(image.depth())
             {
-                double *color = (double*)image.data+elemSize*i+elemSize1*c;
-                quantizedColor = (size_t)((double)(*color-minVal.d)*quantizationLevels/(maxVal.d-minVal.d));
+                case CV_8U: color = image.ptr<uchar>(irow)[icol * numChannels + c]; break;
+                case CV_8S: color = image.ptr<schar>(irow)[icol * numChannels + c]; break;
+                case CV_16U: color = image.ptr<ushort>(irow)[icol * numChannels + c]; break;
+                case CV_16S: color = image.ptr<short>(irow)[icol * numChannels + c]; break;
+                case CV_32S: color = image.ptr<int>(irow)[icol * numChannels + c]; break;
+                case CV_32F: color = image.ptr<float>(irow)[icol * numChannels + c]; break;
+                case CV_64F: color = image.ptr<double>(irow)[icol * numChannels + c]; break;
+                default: color = 0; break;
             }
+            size_t quantizedColor = (size_t)((color-minVal)*quantizationLevels/(maxVal-minVal));
             newFeature.color.push_back(quantizedColor);
         }
         // now that the feature is ready for use, put it in the histogram
@@ -251,7 +227,7 @@ void BackgroundSubtractorGMG::operator()(InputArray _image, OutputArray _fgmask,
              */
             int row,col;
             col = i%imWidth;
-            row = (i-col)/imWidth;
+            row = int(i-col)/imWidth;
             posteriorImage.at<float>(row,col) = (1.0f-posterior);
         }
         pixel->setLastObservedFeature(newFeature);
@@ -284,10 +260,10 @@ void BackgroundSubtractorGMG::updateBackgroundModel(InputArray _mask)
 
     Mat maskImg = _mask.getMat();
 //#pragma omp parallel
-    for (size_t i = 0; i < imHeight; ++i)
+    for (int i = 0; i < imHeight; ++i)
     {
 //#pragma omp parallel
-        for (size_t j = 0; j < imWidth; ++j)
+        for (int j = 0; j < imWidth; ++j)
         {
             if (frameNum <= numInitializationFrames + 1)
             {