new corner refinement method :: using the contour-lines (#973)

* doCornerRefinement to CornerRefinementMethod :: detected contours points are used to detect the corners

* some little corrections

* samples edited

* documented :)

* tabs corrected

* Docu corrections

* refinement for all candidates

* refinement for all candidates :: copy paste error corrected

* comment

aruco: make public the getBoardObjectAndImagePoints function (#1108)

* Made the private static getBoardObjectAndImagePoints function public to be used for calibration.

* Switched the arguments detectedIds and detectedCorners, and objPoints and imgPoints on getBoardObjectandImagePoints function for consistency with calibrateCamera and calibrateCameraAruco functions.

* Added the flag CV_EXPORTS_W to the getBoardObjectAndImagePoints function.

* Correcting wrong type check in Aruco Board creation

* Double checking for CV_32FC1 and CV_32FC3 following @sovrasov's review

allows trading corner precision for corner quantity

also add shortcut if markers are aligned with image axes

type should be OutputArray instead of OutputArrayOfArrays.
at<Vec3d> is one dimensional. (fixes debug assert)
fixes #574

allows using Mat and vector<Vec3d> as argument for rvecs, tvecs that are
allocated at once.

also avoids manual memcpy: the predefined dictionary data is not
duplicated any more.

store marker internally as
"r0_b0, r0_b1, .. , r0_bn, r2_b0, .." instead of
"r0_b0, r1_b0, .. , rn_b0, r1_b0, .."
i.e. the same as in predefined_dictionaries.cpp.
This makes loading a dictionary a simple memcpy and also allows to get
rid of the custom hammingDistance implementation in favor of
hal::normHamming.