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

modules/objdetect/misc/java/test/ArucoTest.java

@@ -4,8 +4,10 @@ import java.util.ArrayList;
 import java.util.List;
 
 import org.opencv.test.OpenCVTestCase;
+import org.junit.Assert;
 import org.opencv.core.Scalar;
 import org.opencv.core.Mat;
+import org.opencv.core.MatOfInt;
 import org.opencv.core.Size;
 import org.opencv.core.CvType;
 import org.opencv.objdetect.*;
@@ -29,7 +31,7 @@ public class ArucoTest extends OpenCVTestCase {
         Mat ids = new Mat(1, 1, CvType.CV_32SC1);
         ids.put(row, col, 0);
 
-        Board board = Board.create(objPoints, dictionary, ids);
+        Board board = new Board(objPoints, dictionary, ids);
 
         Mat image = new Mat();
         board.generateImage(new Size(80, 80), image, 2);
@@ -80,4 +82,32 @@ public class ArucoTest extends OpenCVTestCase {
         assertArrayEquals(new double[]{size + offset - 1, size + offset - 1}, res.get(0, 2), 0.0);
         assertArrayEquals(new double[]{offset, size + offset - 1}, res.get(0, 3), 0.0);
     }
+
+    public void testCharucoDetector() {
+        Dictionary dictionary = Objdetect.getPredefinedDictionary(0);
+        int boardSizeX = 3, boardSizeY = 3;
+        CharucoBoard board = new CharucoBoard(new Size(boardSizeX, boardSizeY), 1.f, 0.8f, dictionary);
+        CharucoDetector charucoDetector = new CharucoDetector(board);
+
+        int cellSize = 80;
+        Mat boardImage = new Mat();
+        board.generateImage(new Size(cellSize*boardSizeX, cellSize*boardSizeY), boardImage);
+
+        assertTrue(boardImage.total() > 0);
+
+        Mat charucoCorners = new Mat();
+        Mat charucoIds = new Mat();
+        charucoDetector.detectBoard(boardImage, charucoCorners, charucoIds);
+
+        assertEquals(4, charucoIds.total());
+        int[] intCharucoIds = (new MatOfInt(charucoIds)).toArray();
+        Assert.assertArrayEquals(new int[]{0, 1, 2, 3}, intCharucoIds);
+
+        double eps = 0.2;
+        assertArrayEquals(new double[]{cellSize, cellSize}, charucoCorners.get(0, 0), eps);
+        assertArrayEquals(new double[]{2*cellSize, cellSize}, charucoCorners.get(1, 0), eps);
+        assertArrayEquals(new double[]{cellSize, 2*cellSize}, charucoCorners.get(2, 0), eps);
+        assertArrayEquals(new double[]{2*cellSize, 2*cellSize}, charucoCorners.get(3, 0), eps);
+    }
+
 }