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