fixed number of update operation

modules/gpu/src/bgfg_gmg.cpp

@@ -96,7 +96,8 @@ void cv::gpu::GMG_GPU::initialize(cv::Size frameSize, float min, float max)
 
     nfeatures_.setTo(cv::Scalar::all(0));
 
-    boxFilter_ = cv::gpu::createBoxFilter_GPU(CV_8UC1, CV_8UC1, cv::Size(smoothingRadius, smoothingRadius));
+    if (smoothingRadius > 0)
+        boxFilter_ = cv::gpu::createBoxFilter_GPU(CV_8UC1, CV_8UC1, cv::Size(smoothingRadius, smoothingRadius));
 
     loadConstants(frameSize_.width, frameSize_.height, minVal_, maxVal_, quantizationLevels, backgroundPrior, decisionThreshold, maxFeatures, numInitializationFrames);
 }
@@ -130,14 +131,21 @@ void cv::gpu::GMG_GPU::operator ()(const cv::gpu::GpuMat& frame, cv::gpu::GpuMat
         initialize(frame.size(), 0.0f, frame.depth() == CV_8U ? 255.0f : frame.depth() == CV_16U ? std::numeric_limits<ushort>::max() : 1.0f);
 
     fgmask.create(frameSize_, CV_8UC1);
+    if (stream)
+        stream.enqueueMemSet(fgmask, cv::Scalar::all(0));
+    else
+        fgmask.setTo(cv::Scalar::all(0));
 
     funcs[frame.depth()][frame.channels() - 1](frame, fgmask, colors_, weights_, nfeatures_, frameNum_, learningRate, cv::gpu::StreamAccessor::getStream(stream));
 
     // medianBlur
-    boxFilter_->apply(fgmask, buf_, cv::Rect(0,0,-1,-1), stream);
-    int minCount = (smoothingRadius * smoothingRadius + 1) / 2;
-    double thresh = 255.0 * minCount / (smoothingRadius * smoothingRadius);
-    cv::gpu::threshold(buf_, fgmask, thresh, 255.0, cv::THRESH_BINARY, stream);
+    if (smoothingRadius > 0)
+    {
+        boxFilter_->apply(fgmask, buf_, cv::Rect(0,0,-1,-1), stream);
+        int minCount = (smoothingRadius * smoothingRadius + 1) / 2;
+        double thresh = 255.0 * minCount / (smoothingRadius * smoothingRadius);
+        cv::gpu::threshold(buf_, fgmask, thresh, 255.0, cv::THRESH_BINARY, stream);
+    }
 
     // keep track of how many frames we have processed
     ++frameNum_;

modules/gpu/src/cuda/bgfg_gmg.cu

@@ -181,32 +181,18 @@ namespace cv { namespace gpu { namespace device {
 
             int nfeatures = nfeatures_(y, x);
 
-            bool isForeground = false;
-
-            if (frameNum > c_numInitializationFrames)
+            if (frameNum >= c_numInitializationFrames)
             {
                 // typical operation
+
                 const float weight = findFeature(newFeatureColor, colors_, weights_, x, y, nfeatures);
 
                 // see Godbehere, Matsukawa, Goldberg (2012) for reasoning behind this implementation of Bayes rule
                 const float posterior = (weight * c_backgroundPrior) / (weight * c_backgroundPrior + (1.0f - weight) * (1.0f - c_backgroundPrior));
 
-                isForeground = ((1.0f - posterior) > c_decisionThreshold);
-            }
-
-            fgmask(y, x) = (uchar)(-isForeground);
+                const bool isForeground = ((1.0f - posterior) > c_decisionThreshold);
+                fgmask(y, x) = (uchar)(-isForeground);
 
-            if (frameNum <= c_numInitializationFrames + 1)
-            {
-                // training-mode update
-
-                insertFeature(newFeatureColor, 1.0f, colors_, weights_, x, y, nfeatures);
-
-                if (frameNum == c_numInitializationFrames + 1)
-                    normalizeHistogram(weights_, x, y, nfeatures);
-            }
-            else
-            {
                 // update histogram.
 
                 for (int i = 0, fy = y; i < nfeatures; ++i, fy += c_height)
@@ -220,6 +206,15 @@ namespace cv { namespace gpu { namespace device {
                     nfeatures_(y, x) = nfeatures;
                 }
             }
+            else
+            {
+                // training-mode update
+
+                insertFeature(newFeatureColor, 1.0f, colors_, weights_, x, y, nfeatures);
+
+                if (frameNum == c_numInitializationFrames - 1)
+                    normalizeHistogram(weights_, x, y, nfeatures);
+            }
         }
 
         template <typename SrcT>