Fix aruco regressions with 4.8

[rurban]

All the opencv_contrib aruco testcases do not work anymore.
Fix them (maybe even add ours) to get a better coverage.

Some methods are now broken (since 4.8) and not tested at all.
Missing coverage (and broken):

• refineDetectedMarkers
• interpolateCornersCharuco
• estimatePoseCharucoBoard

---

Broken existing tests, because the data files moved from contrib to opencv core docs.

• fixed by PR aruco: add back missing samples and tutorials testdata opencv/opencv_contrib#3707

bin/opencv_test_aruco 

CTEST_FULL_OUTPUT
OpenCV version: 4.9.0-dev
OpenCV VCS version: 4.9.0-251-g3aefd4862c
Build type: Debug
Compiler: /usr/lib64/ccache/c++  (ver 13.2.1)
[ INFO:[email protected]] global registry_parallel.impl.hpp:96 ParallelBackendRegistry core(parallel): Enabled backends(3, sorted by priority): ONETBB(1000); TBB(990); OPENMP(980)
Parallel framework: pthreads (nthreads=4)
CPU features: SSE SSE2 SSE3 *SSE4.1 *SSE4.2 *FP16 *AVX *AVX2 *AVX512-SKX?
Intel(R) IPP version: ippIP AVX2 (l9) 2021.10.1 (-) Dec  6 2023
Intel(R) IPP features code: 0x8000
[ INFO:[email protected]] global ocl.cpp:1185 haveOpenCL Initialize OpenCL runtime...
[ INFO:[email protected]] global ocl.cpp:1191 haveOpenCL OpenCL: found 1 platforms
[ INFO:[email protected]] global ocl.cpp:983 getInitializedExecutionContext OpenCL: initializing thread execution context
[ INFO:[email protected]] global ocl.cpp:993 getInitializedExecutionContext OpenCL: creating new execution context...
[ INFO:[email protected]] global ocl.cpp:1011 getInitializedExecutionContext OpenCL: device=gfx902:xnack+
OpenCL Platforms: 
    AMD Accelerated Parallel Processing
        dGPU: gfx902:xnack+ (OpenCL 2.0 )
Current OpenCL device: 
    Type = dGPU
    Name = gfx902:xnack+
    Version = OpenCL 2.0 
    Driver version = 3602.0 (HSA1.1,LC)
    Address bits = 64
    Compute units = 3
    Max work group size = 256
    Local memory size = 64 KB
    Max memory allocation size = 1 GB 716 MB 819 KB 200 B
    Double support = Yes
    Half support = Yes
    Host unified memory = No
    Device extensions:
        cl_khr_fp64
        cl_khr_global_int32_base_atomics
        cl_khr_global_int32_extended_atomics
        cl_khr_local_int32_base_atomics
        cl_khr_local_int32_extended_atomics
        cl_khr_int64_base_atomics
        cl_khr_int64_extended_atomics
        cl_khr_3d_image_writes
        cl_khr_byte_addressable_store
        cl_khr_fp16
        cl_khr_gl_sharing
        cl_amd_device_attribute_query
        cl_amd_media_ops
        cl_amd_media_ops2
        cl_khr_image2d_from_buffer
        cl_khr_subgroups
        cl_khr_depth_images
        cl_amd_copy_buffer_p2p
        cl_amd_assembly_program
    Has AMD Blas = No
    Has AMD Fft = No
    Preferred vector width char = 4
    Preferred vector width short = 2
    Preferred vector width int = 1
    Preferred vector width long = 1
    Preferred vector width float = 1
    Preferred vector width double = 1
    Preferred vector width half = 1
TEST: Skip tests with tags: 'mem_6gb', 'verylong', 'debug_verylong'
[==========] Running 6 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 6 tests from CV_ArucoTutorial
[ RUN      ] CV_ArucoTutorial.can_find_singlemarkersoriginal
unknown file: Failure
C++ exception with description "OpenCV(4.9.0-dev) /home/rurban/Software/opencv-python/opencv/modules/ts/src/ts.cpp:1071: error: (-2:Unspecified error) OpenCV tests: Can't find required data file: aruco/singlemarkersoriginal.jpg in function 'findData'
" thrown in the test body.
[  FAILED  ] CV_ArucoTutorial.can_find_singlemarkersoriginal (0 ms)
[ RUN      ] CV_ArucoTutorial.can_find_gboriginal
unknown file: Failure
C++ exception with description "OpenCV(4.9.0-dev) /home/rurban/Software/opencv-python/opencv/modules/ts/src/ts.cpp:1071: error: (-2:Unspecified error) OpenCV tests: Can't find required data file: aruco/gboriginal.jpg in function 'findData'
" thrown in the test body.
[  FAILED  ] CV_ArucoTutorial.can_find_gboriginal (1 ms)
[ RUN      ] CV_ArucoTutorial.can_find_choriginal
unknown file: Failure
C++ exception with description "OpenCV(4.9.0-dev) /home/rurban/Software/opencv-python/opencv/modules/ts/src/ts.cpp:1071: error: (-2:Unspecified error) OpenCV tests: Can't find required data file: aruco/choriginal.jpg in function 'findData'
" thrown in the test body.
[  FAILED  ] CV_ArucoTutorial.can_find_choriginal (0 ms)
[ RUN      ] CV_ArucoTutorial.can_find_chocclusion
unknown file: Failure
C++ exception with description "OpenCV(4.9.0-dev) /home/rurban/Software/opencv-python/opencv/modules/ts/src/ts.cpp:1071: error: (-2:Unspecified error) OpenCV tests: Can't find required data file: aruco/chocclusion_original.jpg in function 'findData'
" thrown in the test body.
[  FAILED  ] CV_ArucoTutorial.can_find_chocclusion (0 ms)
[ RUN      ] CV_ArucoTutorial.can_find_diamondmarkers
unknown file: Failure
C++ exception with description "OpenCV(4.9.0-dev) /home/rurban/Software/opencv-python/opencv/modules/ts/src/ts.cpp:1071: error: (-2:Unspecified error) OpenCV tests: Can't find required data file: aruco/diamondmarkers.png in function 'findData'
" thrown in the test body.
[  FAILED  ] CV_ArucoTutorial.can_find_diamondmarkers (0 ms)
[ RUN      ] CV_ArucoTutorial.can_refine_detected_markers
unknown file: Failure
C++ exception with description "OpenCV(4.9.0-dev) /home/rurban/Software/opencv-python/opencv/modules/ts/src/ts.cpp:1071: error: (-2:Unspecified error) OpenCV tests: Can't find required data file: aruco/diamondmarkers.png in function 'findData'
" thrown in the test body.
[  FAILED  ] CV_ArucoTutorial.can_refine_detected_markers (0 ms)
[----------] 6 tests from CV_ArucoTutorial (1 ms total)

[----------] Global test environment tear-down
[==========] 6 tests from 1 test case ran. (1 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 6 tests, listed below:
[  FAILED  ] CV_ArucoTutorial.can_find_singlemarkersoriginal
[  FAILED  ] CV_ArucoTutorial.can_find_gboriginal
[  FAILED  ] CV_ArucoTutorial.can_find_choriginal
[  FAILED  ] CV_ArucoTutorial.can_find_chocclusion
[  FAILED  ] CV_ArucoTutorial.can_find_diamondmarkers
[  FAILED  ] CV_ArucoTutorial.can_refine_detected_markers

 6 FAILED TESTS

[AleksandrPanov]

@rurban, module aruco in contib is deprecated

test data were moved to opencv_extra/testdata/cv/aruco:
https://github.com/opencv/opencv_extra/tree/4.x/testdata/cv/aruco