Merge pull request #28804 from asmorkalov:as/calib_boards_migration

Migrated chessboard and circles grid detectors to objdetect #28804
  
OpenCV Contrib: https://github.com/opencv/opencv_contrib/pull/4125
OpenCV Extra: https://github.com/opencv/opencv_extra/pull/1375

### 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
- [ ] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake

modules/objdetect/misc/java/gen_dict.json

@@ -65,5 +65,9 @@
             "suffix": "Ljava_util_List",
             "v_type": "vector_NativeByteArray"
         }
+    },
+    "func_arg_fix" : {
+        "findChessboardCorners" : { "corners" : {"ctype" : "vector_Point2f"} },
+        "drawChessboardCorners" : { "corners" : {"ctype" : "vector_Point2f"} }
     }
 }

modules/objdetect/misc/java/test/ObjdetectTest.java

@@ -0,0 +1,100 @@
+package org.opencv.test.objdetect;
+
+import java.util.ArrayList;
+
+import org.opencv.cv3d.Cv3d;
+import org.opencv.core.Core;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+import org.opencv.core.MatOfDouble;
+import org.opencv.core.MatOfPoint2f;
+import org.opencv.core.MatOfPoint3f;
+import org.opencv.core.Point;
+import org.opencv.core.Scalar;
+import org.opencv.core.Size;
+import org.opencv.objdetect.Objdetect;
+import org.opencv.test.OpenCVTestCase;
+import org.opencv.imgproc.Imgproc;
+
+public class ObjdetectTest extends OpenCVTestCase {
+
+    Size size;
+
+    @Override
+    protected void setUp() throws Exception {
+        super.setUp();
+
+        size = new Size(3, 3);
+    }
+
+    public void testFindChessboardCornersMatSizeMat() {
+        Size patternSize = new Size(9, 6);
+        MatOfPoint2f corners = new MatOfPoint2f();
+        Objdetect.findChessboardCorners(grayChess, patternSize, corners);
+        assertFalse(corners.empty());
+    }
+
+    public void testFindChessboardCornersMatSizeMatInt() {
+        Size patternSize = new Size(9, 6);
+        MatOfPoint2f corners = new MatOfPoint2f();
+        Objdetect.findChessboardCorners(grayChess, patternSize, corners, Objdetect.CALIB_CB_ADAPTIVE_THRESH + Objdetect.CALIB_CB_NORMALIZE_IMAGE
+                + Objdetect.CALIB_CB_FAST_CHECK);
+        assertFalse(corners.empty());
+    }
+
+    public void testFind4QuadCornerSubpix() {
+        Size patternSize = new Size(9, 6);
+        MatOfPoint2f corners = new MatOfPoint2f();
+        Size region_size = new Size(5, 5);
+        Objdetect.findChessboardCorners(grayChess, patternSize, corners);
+        Objdetect.find4QuadCornerSubpix(grayChess, corners, region_size);
+        assertFalse(corners.empty());
+    }
+
+    public void testFindCirclesGridMatSizeMat() {
+        int size = 300;
+        Mat img = new Mat(size, size, CvType.CV_8U);
+        img.setTo(new Scalar(255));
+        Mat centers = new Mat();
+
+        assertFalse(Objdetect.findCirclesGrid(img, new Size(5, 5), centers));
+
+        for (int i = 0; i < 5; i++)
+            for (int j = 0; j < 5; j++) {
+                Point pt = new Point(size * (2 * i + 1) / 10, size * (2 * j + 1) / 10);
+                Imgproc.circle(img, pt, 10, new Scalar(0), -1);
+            }
+
+        assertTrue(Objdetect.findCirclesGrid(img, new Size(5, 5), centers));
+
+        assertEquals(1, centers.rows());
+        assertEquals(25, centers.cols());
+        assertEquals(CvType.CV_32FC2, centers.type());
+    }
+
+    public void testFindCirclesGridMatSizeMatInt() {
+        int size = 300;
+        Mat img = new Mat(size, size, CvType.CV_8U);
+        img.setTo(new Scalar(255));
+        Mat centers = new Mat();
+
+        assertFalse(Objdetect.findCirclesGrid(img, new Size(3, 5), centers, Objdetect.CALIB_CB_CLUSTERING
+                | Objdetect.CALIB_CB_ASYMMETRIC_GRID));
+
+        int step = size * 2 / 15;
+        int offsetx = size / 6;
+        int offsety = (size - 4 * step) / 2;
+        for (int i = 0; i < 3; i++)
+            for (int j = 0; j < 5; j++) {
+                Point pt = new Point(offsetx + (2 * i + j % 2) * step, offsety + step * j);
+                Imgproc.circle(img, pt, 10, new Scalar(0), -1);
+            }
+
+        assertTrue(Objdetect.findCirclesGrid(img, new Size(3, 5), centers, Objdetect.CALIB_CB_CLUSTERING
+                | Objdetect.CALIB_CB_ASYMMETRIC_GRID));
+
+        assertEquals(1, centers.rows());
+        assertEquals(15, centers.cols());
+        assertEquals(CvType.CV_32FC2, centers.type());
+    }
+}