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

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -36,7 +36,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QSet>
 #include <QtGui/QImage>
 #include <opencv2/core/core.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <set>
 #include <vector>
 #include <pcl/point_cloud.h>

guilib/include/rtabmap/gui/ImageView.h

@@ -34,7 +34,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QRectF>
 #include <QtCore/QMultiMap>
 #include <QtCore/QSettings>
+#include <opencv2/core/version.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 #include <map>
 #include "rtabmap/utilite/UCv2Qt.h"
 #include <rtabmap/core/CameraModel.h>

guilib/include/rtabmap/gui/KeypointItem.h

@@ -34,7 +34,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QGraphicsTextItem>
 #include <QtGui/QPen>
 #include <QtGui/QBrush>
+#include <opencv2/core/version.hpp>
+#if CV_MAJOR_VERSION < 5
 #include <opencv2/features2d/features2d.hpp>
+#else
+#include <opencv2/features.hpp>
+#endif
 
 namespace rtabmap {