Add dictionary bindings

[AleksandrPanov]

Added python bindings for identify()/getDistanceToId()

Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

• 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]

@AleksandrPanov please add smoke test with python to check that API is available.

[asmorkalov]

Ubuntu 18.04 amd64, python 3.6.9:

alexander@asmorkalov-pc:~/Projects/opencv_contrib/modules/aruco/misc/python/test$ python3 -m pytest -v .
============================================================================================================================= test session starts =============================================================================================================================
platform linux -- Python 3.6.9, pytest-6.0.1, py-1.10.0, pluggy-0.13.1 -- /usr/bin/python3
cachedir: .pytest_cache
rootdir: /home/alexander/Projects/opencv_contrib/modules/aruco/misc/python/test
collected 5 items                                                                                                                                                                                                                                                             

test_aruco.py::aruco_test::test_drawCharucoDiamond PASSED                                                                                                                                                                                                               [ 20%]
test_aruco.py::aruco_test::test_getDistanceToId FAILED                                                                                                                                                                                                                  [ 40%]
test_aruco.py::aruco_test::test_identify PASSED                                                                                                                                                                                                                         [ 60%]
test_aruco.py::aruco_test::test_idsAccessibility PASSED                                                                                                                                                                                                                 [ 80%]
test_aruco.py::aruco_test::test_write_read_dict PASSED                                                                                                                                                                                                                  [100%]

================================================================================================================================== FAILURES ===================================================================================================================================
_______________________________________________________________________________________________________________________ aruco_test.test_getDistanceToId _______________________________________________________________________________________________________________________

self = <test_aruco.aruco_test testMethod=test_getDistanceToId>

    def test_getDistanceToId(self):
        aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_4X4_50)
        idx = 7
        rotation = 3
        bit_marker = np.array([[0, 1, 0, 1], [0, 1, 1, 1], [1, 1, 0, 0], [0, 1, 0, 0]])
>       dist = aruco_dict.getDistanceToId(bit_marker, idx, dtype=np.uint8)
E       cv2.error: OpenCV(4.5.5-dev) :-1: error: (-5:Bad argument) in function 'getDistanceToId'
E       > Overload resolution failed:
E       >  - 'dtype' is an invalid keyword argument for this function
E       >  - 'dtype' is an invalid keyword argument for this function

test_aruco.py:84: error

[AleksandrPanov]

Ubuntu 18.04 amd64, python 3.6.9:

alexander@asmorkalov-pc:~/Projects/opencv_contrib/modules/aruco/misc/python/test$ python3 -m pytest -v .
============================================================================================================================= test session starts =============================================================================================================================
platform linux -- Python 3.6.9, pytest-6.0.1, py-1.10.0, pluggy-0.13.1 -- /usr/bin/python3
cachedir: .pytest_cache
rootdir: /home/alexander/Projects/opencv_contrib/modules/aruco/misc/python/test
collected 5 items                                                                                                                                                                                                                                                             

test_aruco.py::aruco_test::test_drawCharucoDiamond PASSED                                                                                                                                                                                                               [ 20%]
test_aruco.py::aruco_test::test_getDistanceToId FAILED                                                                                                                                                                                                                  [ 40%]
test_aruco.py::aruco_test::test_identify PASSED                                                                                                                                                                                                                         [ 60%]
test_aruco.py::aruco_test::test_idsAccessibility PASSED                                                                                                                                                                                                                 [ 80%]
test_aruco.py::aruco_test::test_write_read_dict PASSED                                                                                                                                                                                                                  [100%]

================================================================================================================================== FAILURES ===================================================================================================================================
_______________________________________________________________________________________________________________________ aruco_test.test_getDistanceToId _______________________________________________________________________________________________________________________

self = <test_aruco.aruco_test testMethod=test_getDistanceToId>

    def test_getDistanceToId(self):
        aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_4X4_50)
        idx = 7
        rotation = 3
        bit_marker = np.array([[0, 1, 0, 1], [0, 1, 1, 1], [1, 1, 0, 0], [0, 1, 0, 0]])
>       dist = aruco_dict.getDistanceToId(bit_marker, idx, dtype=np.uint8)
E       cv2.error: OpenCV(4.5.5-dev) :-1: error: (-5:Bad argument) in function 'getDistanceToId'
E       > Overload resolution failed:
E       >  - 'dtype' is an invalid keyword argument for this function
E       >  - 'dtype' is an invalid keyword argument for this function

test_aruco.py:84: error

@asmorkalov fixed

[asmorkalov]

Tested on Ubuntu 18.04 amd64.