fix: cv2.aruco.interpolateCornersCharuco is deprecated (#979)

There has been API Changes in the newer releases of opencv2 (from
4.8.0). The PR addresses this by supporting both the old and new APIs.

updated Syntax
```
charucodetector = cv2.aruco.CharucoDetector(board)
charuco_corners, charuco_ids, marker_corners, marker_ids = charucodetector.detectBoard(image)
```
before 4.8.0
```
marker_corners, marker_ids, rejectedImgPoints = cv2.aruco.detectMarkers( image, dictionary)
retval, charuco_corners, charuco_ids = cv2.aruco.interpolateCornersCharuco( marker_corners, marker_ids, image, board)
```

See the changed examples in the main opencv2 repo:

https://github.com/opencv/opencv/blob/f9a59f2592993d3dcc080e495f4f5e02dd8ec7ef/samples/python/calibrate.py#L110
(cherry picked from commit a8cd840)

camera_calibration/src/camera_calibration/calibrator.py

@@ -88,8 +88,13 @@ def __init__(self, pattern="chessboard", n_cols = 0, n_rows = 0, dim = 0.0, mark
  "7x7_100" : cv2.aruco.DICT_7X7_100,
  "7x7_250" : cv2.aruco.DICT_7X7_250,
  "7x7_1000" : cv2.aruco.DICT_7X7_1000}[aruco_dict])
- self.charuco_board = cv2.aruco.CharucoBoard_create(self.n_cols, self.n_rows, self.dim, self.marker_size,
- self.aruco_dict)
+ if cv2.__version__ >= '4.8.0':
+ self.charuco_board = cv2.aruco.CharucoBoard((self.n_cols, self.n_rows), self.dim, self.marker_size,
+ self.aruco_dict)
+ else:
+ self.charuco_board = cv2.aruco.CharucoBoard_create(self.n_cols, self.n_rows, self.dim, self.marker_size,
+ self.aruco_dict)
+
 
 # Make all private!!!!!
 def lmin(seq1, seq2):
@@ -268,10 +273,17 @@ def _get_charuco_corners(img, board, refine):
  else:
  mono = img
 
- marker_corners, marker_ids, _ = cv2.aruco.detectMarkers(img, board.aruco_dict)
- if len(marker_corners) == 0:
- return (False, None, None)
- _, square_corners, ids = cv2.aruco.interpolateCornersCharuco(marker_corners, marker_ids, img, board.charuco_board)
+
+ if cv2.__version__ >= '4.8.0':
+ charucodetector = cv2.aruco.CharucoDetector(board.charuco_board)
+ square_corners, ids, marker_corners, marker_ids = charucodetector.detectBoard(mono)
+ else:
+ marker_corners, marker_ids, _ = cv2.aruco.detectMarkers(img, board.aruco_dict)
+
+ if len(marker_corners) == 0:
+ return (False, None, None)
+ _, square_corners, ids = cv2.aruco.interpolateCornersCharuco(marker_corners, marker_ids, img, board.charuco_board, minMarkers=1)
+
  return ((square_corners is not None) and (len(square_corners) > 5), square_corners, ids)
 
 def _get_circles(img, board, pattern):

camera_calibration/src/camera_calibration/camera_calibrator.py

@@ -311,7 +311,7 @@ def on_model_change(self, model_select_val):
  self.c.set_cammodel( CAMERA_MODEL.PINHOLE if model_select_val < 0.5 else CAMERA_MODEL.FISHEYE)
 
  def on_scale(self, scalevalue):
- if self.c.calibrated:
+ if self.c and self.c.calibrated:
  self.c.set_alpha(scalevalue / 100.0)
 
  def button(self, dst, label, enable):