Merge pull request #22368 from AleksandrPanov:move_contrib_aruco_to_main_objdetect

Megre together with https://github.com/opencv/opencv_contrib/pull/3325

1. Move aruco_detector, aruco_board, aruco_dictionary, aruco_utils to objdetect
1.1 add virtual Board::draw(), virtual ~Board()
1.2 move `testCharucoCornersCollinear` to Board classes (and rename to `checkCharucoCornersCollinear`)
1.3 add wrappers to keep the old api working
3. Reduce inludes
4. Fix java tests (add objdetect import)
5. Refactoring

### 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

```
**WIP**
force_builders=linux,win64,docs,Linux x64 Debug,Custom
Xbuild_contrib:Docs=OFF

build_image:Custom=ubuntu:22.04
build_worker:Custom=linux-1
```

doc/py_tutorials/py_calib3d/py_pose/py_pose.markdown

@@ -59,7 +59,7 @@ pixels. Then to calculate the rotation and translation, we use the function,
 **cv.solvePnPRansac()**. Once we those transformation matrices, we use them to project our **axis
 points** to the image plane. In simple words, we find the points on image plane corresponding to
 each of (3,0,0),(0,3,0),(0,0,3) in 3D space. Once we get them, we draw lines from the first corner
-to each of these points using our draw() function. Done !!!
+to each of these points using our generateImage() function. Done !!!
 @code{.py}
 for fname in glob.glob('left*.jpg'):
     img = cv.imread(fname)
@@ -89,9 +89,9 @@ See some results below. Notice that each axis is 3 squares long.:
 
 ### Render a Cube
 
-If you want to draw a cube, modify the draw() function and axis points as follows.
+If you want to draw a cube, modify the generateImage() function and axis points as follows.
 
-Modified draw() function:
+Modified generateImage() function:
 @code{.py}
 def draw(img, corners, imgpts):
     imgpts = np.int32(imgpts).reshape(-1,2)