(4.x) Merge 3.4 #2956
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(4.x) Merge 3.4 #2956
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* Sanity check tutorial_charuco_create_detect.cpp::readCameraParameters() * check both camMatrix and distCoeffs sizes * check only widths of camMatrix and distCoeffs matrixes * check sizes of camMatrix and distCoeffs matrixes * check size of only camMatrix
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#2943 from sturkmen72:EdgeDrawing_Improvements
#2950 from drf5n:patch-1
#2952 from iclemens:lbf_dont_check_cascade
#2953 from iclemens:lbf_dont_convert_to_grayscale
Main PR: opencv/opencv#20142
Previous "Merge 3.4": #2939