openmpf · brosenberg42 · Dec 10, 2025 · Dec 11, 2025 · Jan 7, 2026 · Jan 16, 2026
diff --git a/cpp/motion/MogMotionDetection/CMakeLists.txt b/cpp/motion/MogMotionDetection/CMakeLists.txt
@@ -35,7 +35,7 @@ set(CMAKE_CXX_STANDARD 17)
 
 include(../../ComponentSetup.cmake)
 
-find_package(OpenCV 4.9.0 EXACT REQUIRED PATHS /opt/opencv-4.9.0
+find_package(OpenCV 4.13.0 EXACT REQUIRED PATHS /opt/opencv-4.13.0
     COMPONENTS opencv_objdetect opencv_ml opencv_video opencv_highgui)
 
 find_package(mpfComponentInterface REQUIRED)

diff --git a/cpp/motion/MogMotionDetection/Dockerfile b/cpp/motion/MogMotionDetection/Dockerfile
@@ -1,4 +1,4 @@
-# syntax=docker/dockerfile:1.2
+# syntax=docker/dockerfile:1.20
 
 #############################################################################
 # NOTICE                                                                    #
@@ -28,7 +28,7 @@
 
 ARG BUILD_REGISTRY
 ARG BUILD_TAG=latest
-FROM ${BUILD_REGISTRY}openmpf_cpp_component_build:${BUILD_TAG} as build_component
+FROM ${BUILD_REGISTRY}openmpf_cpp_component_build:${BUILD_TAG} AS build_component
 
 RUN --mount=source=MogMotionDetection,target=MogMotionDetection \
     --mount=source=STRUCK,target=STRUCK \
@@ -38,9 +38,9 @@ ARG RUN_TESTS=false
 RUN if [ "${RUN_TESTS,,}" == true ]; then cd $BUILD_DIR/test && ./MogMotionDetectionTest; fi
 
 
-FROM ${BUILD_REGISTRY}openmpf_cpp_executor:${BUILD_TAG} as install_component
+FROM ${BUILD_REGISTRY}openmpf_cpp_executor:${BUILD_TAG} AS install_component
 
-ENV LD_LIBRARY_PATH $PLUGINS_DIR/MogMotionDetection/lib
+ENV LD_LIBRARY_PATH=$PLUGINS_DIR/MogMotionDetection/lib
 
 COPY --from=build_component $BUILD_DIR/plugin/MogMotionDetection $PLUGINS_DIR/MogMotionDetection
 

diff --git a/cpp/motion/STRUCK/CMakeLists.txt b/cpp/motion/STRUCK/CMakeLists.txt
@@ -30,7 +30,7 @@
 project(STRUCK)
 
 if(NOT TARGET STRUCK)
-    find_package(OpenCV 4.9.0 EXACT REQUIRED PATHS /opt/opencv-4.9.0 COMPONENTS opencv_core opencv_imgproc)
+    find_package(OpenCV 4.13.0 EXACT REQUIRED PATHS /opt/opencv-4.13.0 COMPONENTS opencv_core opencv_imgproc)
 
     # Need to use absolute paths so that both Mog and Subsense can build STRUCK
     set(STRUCK_SRC

diff --git a/cpp/motion/SubsenseMotionDetection/CMakeLists.txt b/cpp/motion/SubsenseMotionDetection/CMakeLists.txt
@@ -35,7 +35,7 @@ set(CMAKE_CXX_STANDARD 17)
 
 include(../../ComponentSetup.cmake)
 
-find_package(OpenCV 4.9.0 EXACT REQUIRED PATHS /opt/opencv-4.9.0
+find_package(OpenCV 4.13.0 EXACT REQUIRED PATHS /opt/opencv-4.13.0
     COMPONENTS opencv_objdetect opencv_video opencv_features2d opencv_flann opencv_ml opencv_highgui)
 
 find_package(mpfComponentInterface REQUIRED)

diff --git a/cpp/motion/SubsenseMotionDetection/Dockerfile b/cpp/motion/SubsenseMotionDetection/Dockerfile
@@ -1,4 +1,4 @@
-# syntax=docker/dockerfile:1.2
+# syntax=docker/dockerfile:1.20
 
 #############################################################################
 # NOTICE                                                                    #
@@ -28,7 +28,7 @@
 
 ARG BUILD_REGISTRY
 ARG BUILD_TAG=latest
-FROM ${BUILD_REGISTRY}openmpf_cpp_component_build:${BUILD_TAG} as build_component
+FROM ${BUILD_REGISTRY}openmpf_cpp_component_build:${BUILD_TAG} AS build_component
 
 
 RUN --mount=source=SubsenseMotionDetection,target=SubsenseMotionDetection \
@@ -39,9 +39,9 @@ ARG RUN_TESTS=false
 RUN if [ "${RUN_TESTS,,}" == true ]; then cd $BUILD_DIR/test && ./SubsenseMotionDetectionTest; fi
 
 
-FROM ${BUILD_REGISTRY}openmpf_cpp_executor:${BUILD_TAG} as install_component
+FROM ${BUILD_REGISTRY}openmpf_cpp_executor:${BUILD_TAG} AS install_component
 
-ENV LD_LIBRARY_PATH $PLUGINS_DIR/SubsenseMotionDetection/lib
+ENV LD_LIBRARY_PATH=$PLUGINS_DIR/SubsenseMotionDetection/lib
 
 COPY --from=build_component $BUILD_DIR/plugin/SubsenseMotionDetection $PLUGINS_DIR/SubsenseMotionDetection
 

diff --git a/cpp/motion/SubsenseMotionDetection/SubSense/BackgroundSubtractorSuBSENSE.cpp b/cpp/motion/SubsenseMotionDetection/SubSense/BackgroundSubtractorSuBSENSE.cpp
@@ -698,6 +698,12 @@ void BackgroundSubtractorSuBSENSE::apply(cv::InputArray _image, cv::OutputArray
 	}
 }
 
+void BackgroundSubtractorSuBSENSE::apply(
+		cv::InputArray image, cv::InputArray knownForegroundMask, cv::OutputArray fgmask,
+		double learningRate) {
+	throw std::runtime_error("knownForegroundMask is not supported.");
+}
+
 void BackgroundSubtractorSuBSENSE::getBackgroundImage(cv::OutputArray backgroundImage) const {
 	CV_Assert(m_bInitialized);
 	cv::Mat oAvgBGImg = cv::Mat::zeros(m_oImgSize,CV_32FC((int)m_nImgChannels));

diff --git a/cpp/motion/SubsenseMotionDetection/SubSense/BackgroundSubtractorSuBSENSE.h b/cpp/motion/SubsenseMotionDetection/SubSense/BackgroundSubtractorSuBSENSE.h
@@ -44,6 +44,9 @@ class BackgroundSubtractorSuBSENSE : public BackgroundSubtractorLBSP {
 	//! primary model update function; the learning param is used to override the internal learning thresholds (ignored when <= 0)
 	// virtual void operator()(cv::InputArray image, cv::OutputArray fgmask, double learningRateOverride=0);
 	virtual void apply(cv::InputArray image, cv::OutputArray fgmask, double learningRateOverride=0);
+
+	virtual void apply(cv::InputArray image, cv::InputArray knownForegroundMask,
+			cv::OutputArray fgmask, double learningRate=-1);
 	//! returns a copy of the latest reconstructed background image
 	void getBackgroundImage(cv::OutputArray backgroundImage) const;
 	//! returns a copy of the latest reconstructed background descriptors image
@@ -111,4 +114,3 @@ class BackgroundSubtractorSuBSENSE : public BackgroundSubtractorLBSP {
 	cv::Mat m_oCurrRawFGBlinkMask;
 	cv::Mat m_oLastRawFGBlinkMask;
 };
-
diff --git a/cpp/motion/SubsenseMotionDetection/SubSense/CMakeLists.txt b/cpp/motion/SubsenseMotionDetection/SubSense/CMakeLists.txt
@@ -1,6 +1,6 @@
 project(SubSense)
 
-find_package(OpenCV 4.9.0 EXACT REQUIRED PATHS /opt/opencv-4.9.0
+find_package(OpenCV 4.13.0 EXACT REQUIRED PATHS /opt/opencv-4.13.0
     COMPONENTS opencv_features2d)
 
 aux_source_directory(. SRC)