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

corelib/src/camera/CameraStereoImages.cpp

@@ -29,7 +29,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UConversion.h>
-#include <opencv2/imgproc/types_c.h>
 
 namespace rtabmap
 {
@@ -339,7 +338,7 @@ SensorData CameraStereoImages::captureImage(SensorCaptureInfo * info)
 		if(rightImage.type() != CV_8UC1 && rightGrayScale_)
 		{
 			cv::Mat tmp;
-			cv::cvtColor(rightImage, tmp, CV_BGR2GRAY);
+			cv::cvtColor(rightImage, tmp, cv::COLOR_BGR2GRAY);
 			rightImage = tmp;
 		}