fixup! tooling: Update OpenCV to v4.13.0

Author: eigendude

oasis_tooling/config/bgslibrary/0001-Disable-imshow-calls.patch

@@ -1,15 +1,15 @@
-From 47058cd9c7f7a3bfebca8a74075eaf953d325232 Mon Sep 17 00:00:00 2001
+From 780fb0dc93326499de403776eb5b01cd43a4dc68 Mon Sep 17 00:00:00 2001
 From: Garrett Brown <eigendebugger@gmail.com>
 Date: Fri, 21 Mar 2025 21:38:12 -0700
-Subject: [PATCH 1/2] Disable imshow() calls
+Subject: [PATCH 1/3] Disable imshow() calls
 
 ---
  CMakeLists.txt                        |  3 ++
  bgslibrary/tools/PerformanceUtils.cpp | 49 ---------------------------
  2 files changed, 3 insertions(+), 49 deletions(-)
 
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 4d635ff..fc2b51d 100644
+index 2ff5217..09a8cfe 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -67,6 +67,9 @@ foreach(OUTPUTCONFIG ${CMAKE_CONFIGURATION_TYPES})

oasis_tooling/config/bgslibrary/0002-CMake-Fix-locating-libs-via-_ROOT-variables.patch

@@ -1,14 +1,14 @@
-From 74fc9828431845d5e1aff3a5527a4142d8cc7a33 Mon Sep 17 00:00:00 2001
+From cfaca08a7d9346b07fbfd25eff451a147c98ad1d Mon Sep 17 00:00:00 2001
 From: Garrett Brown <garrett.brown@aclima.earth>
 Date: Wed, 24 Sep 2025 14:09:45 -0700
-Subject: [PATCH 2/2] CMake: Fix locating libs via *_ROOT variables
+Subject: [PATCH 2/3] CMake: Fix locating libs via *_ROOT variables
 
 ---
  CMakeLists.txt | 5 +++++
  1 file changed, 5 insertions(+)
 
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index fc2b51d..c5d5e1d 100644
+index 09a8cfe..744a61e 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -35,6 +35,11 @@ if (POLICY CMP0042)

oasis_tooling/config/bgslibrary/0003-Implement-OpenCV4-required-apply-overload.patch

@@ -0,0 +1,32 @@
+From 8d92febc7fc001c13c5b06ff7e481202c2ba1c43 Mon Sep 17 00:00:00 2001
+From: Garrett Brown <garrett.brown@aclima.earth>
+Date: Sat, 7 Feb 2026 12:07:04 -0800
+Subject: [PATCH 3/3] Implement OpenCV4 required apply() overload
+
+---
+ bgslibrary/algorithms/LBSP/BackgroundSubtractorLBSP.h | 9 +++++++++
+ 1 file changed, 9 insertions(+)
+
+diff --git a/bgslibrary/algorithms/LBSP/BackgroundSubtractorLBSP.h b/bgslibrary/algorithms/LBSP/BackgroundSubtractorLBSP.h
+index 3744b8c..0bda415 100644
+--- a/bgslibrary/algorithms/LBSP/BackgroundSubtractorLBSP.h
++++ b/bgslibrary/algorithms/LBSP/BackgroundSubtractorLBSP.h
+@@ -32,6 +32,15 @@ namespace bgslibrary
+         virtual void initialize(const cv::Mat& oInitImg, const cv::Mat& oROI) = 0;
+         //! primary model update function; the learning param is used to override the internal learning speed (ignored when <= 0)
+         virtual void apply(cv::InputArray image, cv::OutputArray fgmask, double learningRate = 0) = 0;
++        // add OpenCV4 overloaded apply that takes a knownForegroundMask
++        void apply(cv::InputArray image,
++                   cv::InputArray knownForegroundMask,
++                   cv::OutputArray fgmask,
++                   double learningRate = -1) CV_OVERRIDE
++        {
++            (void)knownForegroundMask; // ignore this mask by default
++            apply(image, fgmask, learningRate); // forward to existing implementation
++        }
+         //! unused, always returns nullptr
+         //virtual cv::AlgorithmInfo* info() const;
+         //! returns a copy of the ROI used for descriptor extraction
+-- 
+2.43.0
+

oasis_tooling/scripts/depinstall_oasis_deps.sh

@@ -222,6 +222,12 @@ patch \
   --no-backup-if-mismatch \
   --directory="${OASIS_DEPENDS_SOURCE_DIRECTORY}/ros-perception/bgslibrary" \
   < "${CONFIG_DIRECTORY}/bgslibrary/0002-CMake-Fix-locating-libs-via-_ROOT-variables.patch"
+patch \
+  -p1 \
+  --reject-file="/dev/null" \
+  --no-backup-if-mismatch \
+  --directory="${OASIS_DEPENDS_SOURCE_DIRECTORY}/ros-perception/bgslibrary" \
+  < "${CONFIG_DIRECTORY}/bgslibrary/0003-Implement-OpenCV4-required-apply-overload.patch"
 
 # camera_ros
 echo "Patching camera_ros..."