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/objc/gen_dict.json

@@ -3,5 +3,10 @@
         "QRCodeDetectorAruco": {
             "getDetectorParameters": { "declaration" : [""], "implementation" : [""] }
         }
+    },
+    "func_arg_fix" : {
+        "Calib" : {
+            "findCirclesGrid" : { "blobDetector" : {"defval" : "cv::SimpleBlobDetector::create()"} }
+        }
     }
 }

modules/objdetect/misc/objc/test/ObjdetectTest.swift

@@ -0,0 +1,88 @@
+import XCTest
+import OpenCV
+
+class ObjdetectTest: OpenCVTestCase {
+
+    var size = Size()
+
+    override func setUp() {
+        super.setUp()
+        size = Size(width: 3, height: 3)
+    }
+
+    override func tearDown() {
+        super.tearDown()
+    }
+
+    func testFindChessboardCornersMatSizeMat() {
+        let patternSize = Size(width: 9, height: 6)
+        let corners = MatOfPoint2f()
+        Calib.findChessboardCorners(image: grayChess, patternSize: patternSize, corners: corners)
+        XCTAssertFalse(corners.empty())
+    }
+
+    func testFindChessboardCornersMatSizeMatInt() {
+        let patternSize = Size(width: 9, height: 6)
+        let corners = MatOfPoint2f()
+        Calib.findChessboardCorners(image: grayChess, patternSize: patternSize, corners: corners, flags: Calib.CALIB_CB_ADAPTIVE_THRESH + Calib.CALIB_CB_NORMALIZE_IMAGE + Calib.CALIB_CB_FAST_CHECK)
+        XCTAssertFalse(corners.empty())
+    }
+
+    func testFind4QuadCornerSubpix() {
+        let patternSize = Size(width: 9, height: 6)
+        let corners = MatOfPoint2f()
+        let region_size = Size(width: 5, height: 5)
+        Calib.findChessboardCorners(image: grayChess, patternSize: patternSize, corners: corners)
+        Calib.find4QuadCornerSubpix(img: grayChess, corners: corners, region_size: region_size)
+        XCTAssertFalse(corners.empty())
+    }
+
+    func testFindCirclesGridMatSizeMat() {
+        let size = 300
+        let img = Mat(rows:Int32(size), cols:Int32(size), type:CvType.CV_8U)
+        img.setTo(scalar: Scalar(255))
+        let centers = Mat()
+
+        XCTAssertFalse(Calib.findCirclesGrid(image: img, patternSize: Size(width: 5, height: 5), centers: centers))
+
+        for i in 0..<5 {
+            for j in 0..<5 {
+                let x = Int32(size * (2 * i + 1) / 10)
+                let y = Int32(size * (2 * j + 1) / 10)
+                let pt = Point(x: x, y: y)
+                Imgproc.circle(img: img, center: pt, radius: 10, color: Scalar(0), thickness: -1)
+            }
+        }
+
+        XCTAssert(Calib.findCirclesGrid(image: img, patternSize:Size(width:5, height:5), centers:centers))
+
+        XCTAssertEqual(25, centers.rows())
+        XCTAssertEqual(1, centers.cols())
+        XCTAssertEqual(CvType.CV_32FC2, centers.type())
+    }
+
+    func testFindCirclesGridMatSizeMatInt() {
+        let size:Int32 = 300
+        let img = Mat(rows:size, cols: size, type: CvType.CV_8U)
+        img.setTo(scalar: Scalar(255))
+        let centers = Mat()
+
+        XCTAssertFalse(Calib.findCirclesGrid(image: img, patternSize: Size(width: 3, height: 5), centers: centers, flags: Calib.CALIB_CB_CLUSTERING | Calib.CALIB_CB_ASYMMETRIC_GRID))
+
+        let step = size * 2 / 15
+        let offsetx = size / 6
+        let offsety = (size - 4 * step) / 2
+        for i:Int32 in 0...2 {
+            for j:Int32 in 0...4 {
+                let pt = Point(x: offsetx + (2 * i + j % 2) * step, y: offsety + step * j)
+                Imgproc.circle(img: img, center: pt, radius: 10, color: Scalar(0), thickness: -1)
+            }
+        }
+
+        XCTAssert(Calib.findCirclesGrid(image: img, patternSize: Size(width: 3, height: 5), centers: centers, flags: Calib.CALIB_CB_CLUSTERING | Calib.CALIB_CB_ASYMMETRIC_GRID))
+
+        XCTAssertEqual(15, centers.rows())
+        XCTAssertEqual(1, centers.cols())
+        XCTAssertEqual(CvType.CV_32FC2, centers.type())
+    }
+}