G-API: Fix async inference for OpenVINO backend #23884

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Reworked calibrate.py

- Fixed width and height swap in board size
- Fixed defaults in command line hint
- Fixed board visualization for Charuco case
- Used matchImagePoints method to handle partially detected Charuco boards

dnn: disable warning when loading a fp16 model #23853

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G-API: Apply ov::Core lifetime WA for OpenVINO Backend

dnn: fix overflow in sigmoid layer for 3.4

Get rid of unsafe raw pointers to Mat object in USAC

Add charuco board check #23647

Added charuco board checking to avoid detection of incorrect board.
Fixes #23517

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Add `pthread.h` Inclusion if `HAVE_PTHREADS_PF` is defined

Single-case tested with success on Windows 11 with MinGW-w64 Standalone GCC v13.1.0 while building OpenCV 4.7.0

FFmpeg/4.x: update FFmpeg wrapper 2023.6

Fix detect diamonds api #23848

`detectDiamonds` cannot be called from python, reproducer:

```
import numpy as np
import cv2 as cv

detector = cv.aruco.CharucoDetector(
    cv.aruco.CharucoBoard(
        (3, 3), 200.0, 100.0,
        cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_250)
    )
)
image = np.zeros((640, 480, 1), dtype=np.uint8)
res = detector.detectDiamonds(image)
print(res)
```

The error in `detectDiamonds` API fixed by replacing `InputOutputArrayOfArrays markerIds` with `InputOutputArray markerIds`.


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- [x] I agree to contribute to the project under Apache 2 License.
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      Patch to opencv_extra has the same branch name.
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Python binding for RotatedRect #23702

### Pull Request Readiness Checklist

related: https://github.com/opencv/opencv/issues/23546#issuecomment-1562894602

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

- [x] I agree to contribute to the project under Apache 2 License.
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- [x] There is a reference to the original bug report and related work
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      Patch to opencv_extra has the same branch name.
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G-API: Fix incorrect OpaqueKind for Kernel outputs #23843

### Pull Request Readiness Checklist

#### Overview
The PR is going to fix several problems:
1. Major: `GKernel` doesn't hold `kind` for its outputs. Since `GModelBuilder` traverse graph from outputs to inputs once it reaches any output of the operation it will use its `kind` to create  `Data` meta for all operation outputs. Since it essential for `python` to know `GTypeInfo` (which is `shape` and `kind`) it will be confused.

Consider this operation:
```
 @cv.gapi.op('custom.square_mean', in_types=[cv.GArray.Int], out_types=[cv.GOpaque.Float, cv.GArray.Int])
    class GSquareMean:
        @staticmethod
        def outMeta(desc):
            return cv.empty_gopaque_desc(), cv.empty_array_desc()
```
Even though `GOpaque` is `Float`, corresponding metadata might have `Int` kind because it might be taken from `cv.GArray.Int`
so it will be a problem if one of the outputs of these operation is graph output because python will cast it to the wrong type based on `Data` meta.

2. Minor: Some of the OpenVINO `IR`'s doesn't any layout information for input. It's usually true only for `IRv10` but since `OpenVINO 2.0` need this information to correctly configure resize we need to put default layout if there no such assigned in `ov::Model`. 

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

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- [ ] The PR is proposed to the proper branch
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`VideoCapture`: change `CAP_PROP_FOURCC` to fix #22876

G-API: fix static build with OpenVINO

FFmpeg/3.4: update FFmpeg wrapper 2023.6

Fix broken links and outdated information for documentation of Orbbec camera #23829

Resolves the documentation issue from https://github.com/opencv/opencv/issues/23579.

Orbbec is moving to support UVC directly so they do not provide the old `install.sh` for OpenNI SDK >= 2.3.0.86. Also in their new release of OpenNI SDK, paths of include headers and libraries are changed. Changing our cmake script for this change does not make sense since we cannot make this kind of change everytime they update. So just added a subsection providing `install.sh` for users as a workaround on our side.

@Lecrapouille You may also take a look at this pull request.

### Pull Request Readiness Checklist

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feat: manual refinement for Python API definition

Document parameters of multi-dimentional reshape

fix: conditionally define generic NumPy NDArray alias

fix: AST nodes required usage imports

pre: OpenCV 4.8.0 (version++)

pre: OpenCV 3.4.20 (version++)

if browser supports wasm but only asm.js path provided use asm.js as fallback

G-API: Implement InferROI, InferList, InferList2 for OpenVINO backend #23799

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- [ ] 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
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G-API: Align IE Backend with the latest OpenVINO version #23796

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- [ ] I agree to contribute to the project under Apache 2 License.
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- [ ] 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