Merge pull request #22986 from AleksandrPanov:move_contrib_charuco_to_main_objdetect

merge with https://github.com/opencv/opencv_contrib/pull/3394

move Charuco API from contrib to main repo:

- add CharucoDetector:
```
CharucoDetector::detectBoard(InputArray image, InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds, 
                             OutputArray charucoCorners, OutputArray charucoIds) const // detect charucoCorners and/or markerCorners
CharucoDetector::detectDiamonds(InputArray image, InputOutputArrayOfArrays _markerCorners,
                                InputOutputArrayOfArrays _markerIds, OutputArrayOfArrays _diamondCorners,
                                OutputArray _diamondIds) const
```

- add `matchImagePoints()` for `CharucoBoard`
- remove contrib aruco dependencies from interactive-calibration tool
- move almost all aruco tests to objdetect

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake

apps/interactive-calibration/parametersController.cpp

@@ -109,6 +109,7 @@ bool calib::parametersController::loadFromParser(cv::CommandLineParser &parser)
 
     std::string templateType = parser.get<std::string>("t");
 
+
     if(templateType.find("symcircles", 0) == 0) {
         mCapParams.board = CirclesGrid;
         mCapParams.boardSize = cv::Size(4, 11);
@@ -127,7 +128,7 @@ bool calib::parametersController::loadFromParser(cv::CommandLineParser &parser)
     }
     else if(templateType.find("charuco", 0) == 0) {
         mCapParams.board = chAruco;
-        mCapParams.boardSize = cv::Size(6, 8);
+        mCapParams.boardSize = cv::Size(5, 7);
         mCapParams.charucoDictName = 0;
         mCapParams.charucoSquareLength = 200;
         mCapParams.charucoMarkerSize = 100;