OpenCV 5 support (#1732)

* OpenCV 5 support

* RTABMapConfig.cmake, guard from including stereoRectifyFisheye.h

* unified opencv components at the same place

* fixing android build

* Confirmed stereo calibration with fisheye works. Fix camera start/top progress dialog not drawn. Opencv >=4.7 using new opencv's ArucoDetector class.

* pinning opencv for downstream apps

* Avoid changing object/image points between fisheye calibration

* Fixed stereo calib diverging when recalibrating same data

* removed not needed opencv c api

* fixing depthai build on opencv5

* bumped version

* Adding ci opencv5 with homebrew

* fixed ci script

* Fixed OptimizerCeres build with opencv5

.github/actions/install-macos-source-deps/action.yml

@@ -124,7 +124,7 @@ runs:
       uses: actions/cache@v4
       with:
         path: ${{ runner.temp }}/deps-stage/depthai
-        key: depthai-2.32.0-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch') }}-${{ steps.depver.outputs.hash }}
+        key: depthai-2.32.0-usrlocal-nocv-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch') }}-${{ steps.depver.outputs.hash }}
 
     - name: Build depthai
       if: steps.cache-depthai.outputs.cache-hit != 'true'
@@ -161,6 +161,7 @@ runs:
           -DDEPTHAI_ENABLE_CURL=OFF \
           -DDEPTHAI_BUILD_TESTS=OFF \
           -DDEPTHAI_BUILD_EXAMPLES=OFF \
+          -DDEPTHAI_OPENCV_SUPPORT=OFF \
           -DCMAKE_PREFIX_PATH="$(brew --prefix zlib)"
         "$CMAKE3" --build build -j$NPROC
         DESTDIR="$STAGE" "$CMAKE3" --install build

.github/workflows/cmake-macos.yml

@@ -22,23 +22,33 @@ jobs:
     strategy:
       fail-fast: true
       matrix:
-        build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon]
+        build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon, macos-tahoe-intel-cv5, macos-tahoe-apple-silicon-cv5]
         include:
         - build_name: macos-sequoia-intel
           os: macos-15-intel
+          cv: opencv@4
         - build_name: macos-sequoia-apple-silicon
           os: macos-15
+          cv: opencv@4
         - build_name: macos-tahoe-intel
           os: macos-26-intel
+          cv: opencv@4
         - build_name: macos-tahoe-apple-silicon
           os: macos-26
+          cv: opencv@4
+        - build_name: macos-tahoe-intel-cv5
+          os: macos-26-intel
+          cv: opencv
+        - build_name: macos-tahoe-apple-silicon-cv5
+          os: macos-26
+          cv: opencv
     steps:
     - uses: actions/checkout@v4
 
     - name: Install Brew Dependencies
       run: |
         # Update brew and install from Brewfile if present, or specific packages
-        brew install pcl opencv@4 octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver
+        brew install pcl octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver ${{ matrix.cv }}
 
     - name: Install Source Dependencies
       # Build (and per-dependency cache) the source-only deps not available from