Merge pull request opencv#3174 from AleksandrPanov:fix_gridboard_objPoints

Fix objPoints order in GridBoard and CharucoBoard

* fix gridBoard

* fix charucoBoard

* add rightBottomBorder

* add test_aruco_utils and code refactoring/fix tests

* fix axes and add charuco dict

* add axes test, remove drawAxis(), update tutorial

Author: andy-held

modules/aruco/src/aruco.cpp

@@ -875,7 +875,9 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
 		cntPts[group].push_back(contour2f[i]);
 	}
     for (int i = 0; i < 4; i++)
+    {
         CV_Assert(cornerIndex[i] != -1);
+    }
 	// saves extra group into corresponding
 	if( !cntPts[4].empty() ){
 		for( unsigned int i=0; i < cntPts[4].size() ; i++ )

modules/aruco/test/test_boarddetection.cpp

@@ -42,6 +42,12 @@ the use of this software, even if advised of the possibility of such damage.
 
 namespace opencv_test { namespace {
 
+enum class ArucoAlgParams
+{
+    USE_DEFAULT = 0,
+    USE_ARUCO3 = 1
+};
+
 /**
  * @brief Check pose estimation of aruco board
  */

modules/aruco/test/test_charucodetection.cpp

@@ -646,7 +646,7 @@ TEST(Charuco, testBoardSubpixelCoords)
     std::vector<int> ids;
     std::vector<std::vector<cv::Point2f>> corners, rejected;
 
-    cv::aruco::detectMarkers(gray, dict, corners, ids, params, rejected, K);
+    cv::aruco::detectMarkers(gray, dict, corners, ids, params, rejected);
 
     ASSERT_EQ(ids.size(), size_t(8));