ModalAI hosts a native, VOXL-tuned version of OpenCV in 32-bit and 64-bit. The repository containing the tools required to build the OpenCV package for VOXL is available on Gitlab.
Some good examples of using OpenCV on VOXL:
voxl-tag-detector uses opencv to generate stereo image rectification maps, but uses a more optimized algorithm do do the actual undistortion.
voxl-calibrate-camera uses OpenCV to calculate camera lens parameters.