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/perf/perf_cicrlesGrid.cpp

@@ -0,0 +1,42 @@
+#include "perf_precomp.hpp"
+
+namespace opencv_test
+{
+using namespace perf;
+
+typedef tuple<std::string, cv::Size> String_Size_t;
+typedef perf::TestBaseWithParam<String_Size_t> String_Size;
+
+PERF_TEST_P(String_Size, asymm_circles_grid, testing::Values(
+                String_Size_t("cv/cameracalibration/asymmetric_circles/acircles1.png", Size(7,13)),
+                String_Size_t("cv/cameracalibration/asymmetric_circles/acircles2.png", Size(7,13)),
+                String_Size_t("cv/cameracalibration/asymmetric_circles/acircles3.png", Size(7,13)),
+                String_Size_t("cv/cameracalibration/asymmetric_circles/acircles4.png", Size(5,5)),
+                String_Size_t("cv/cameracalibration/asymmetric_circles/acircles5.png", Size(5,5)),
+                String_Size_t("cv/cameracalibration/asymmetric_circles/acircles6.png", Size(5,5)),
+                String_Size_t("cv/cameracalibration/asymmetric_circles/acircles7.png", Size(3,9)),
+                String_Size_t("cv/cameracalibration/asymmetric_circles/acircles8.png", Size(3,9)),
+                String_Size_t("cv/cameracalibration/asymmetric_circles/acircles9.png", Size(3,9))
+                )
+            )
+{
+    string filename = getDataPath(get<0>(GetParam()));
+    Size gridSize = get<1>(GetParam());
+
+    Mat frame = imread(filename);
+    if (frame.empty())
+        FAIL() << "Unable to load source image " << filename;
+
+    vector<Point2f> ptvec;
+    ptvec.resize(gridSize.area());
+
+    cvtColor(frame, frame, COLOR_BGR2GRAY);
+
+    declare.in(frame).out(ptvec);
+
+    TEST_CYCLE() ASSERT_TRUE(findCirclesGrid(frame, gridSize, ptvec, CALIB_CB_CLUSTERING | CALIB_CB_ASYMMETRIC_GRID));
+
+    SANITY_CHECK(ptvec, 2);
+}
+
+} // namespace