(5.x) Merge 4.x #3432
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(5.x) Merge 4.x #3432
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### Pull Request Readiness Checklist 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. - [x] 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 - [x] The PR is proposed to the proper branch - [x] 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 The bug has already been reported and explained on the OpenCV forum: - [optflow-calcopticalflowsparserlof-giving-assertion-error](https://forum.opencv.org/t/cv2-optflow-calcopticalflowsparserlof-giving-assertion-error/4835) - [calcopticalflowsparserlof-assertion-error-in-initialflow](https://forum.opencv.org/t/calcopticalflowsparserlof-assertion-error-in-initialflow/8669) The bug is manifested only if 'UseInitialFlow' is set to true and 'ForwardBackwardThreshold' > 0 (enabled).
…_from_aruco remove charuco duplication
Omnidir calibration: uncertainty fixed
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#3420 from AleksandrPanov:remove_duplication_from_aruco
#3422 from SpaceIm:fix/alphamat-header
#3423 from matijazigic:fix_optflow_rlof
#3426 from tomoaki0705:handleNonBitExact
#3430 from savuor/stddev_calib_omnidir
Main PR: opencv/opencv#23189
Previous "Merge 4.x": #3425