remove charuco duplication

[AleksandrPanov]

Removed charuco duplication after move aruco to main repo.

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• I agree to contribute to the project under Apache 2 License.
• 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

[asmorkalov]

solvePnP throws exception, if there are no enough points.

[AleksandrPanov]

added points check:
if(charucoIds.getMat().total() < 4) return false;

[asmorkalov]

I propose to add try-catch block and return false in case of exception. The function did not throw exceptions before and should not do it after the PR.

[AleksandrPanov]

Add try catch:

    try {
        solvePnP(objPoints, imgPoints, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess);
    }
    catch (const cv::Exception& e) {
        CV_LOG_WARNING(NULL, "estimatePoseCharucoBoard: " << std::endl << e.what());
        return false;
    }

[rurban]

This caused a regression in interpolateCornersCharuco, which does not detect the markers anymore.
There need to be more testcases added, we can contribute some from https://github.com/SpexAI/calibpy/
See SpexAI/calibpy#2

[asmorkalov]

@AleksandrPanov could you take a look?