fix CORNER REFINE CONTOUR

[AleksandrPanov]

fix cv::aruco::detectMarkers consumes all available memory when CORNER_REFINE_CONTOUR #2738

The problem is that undistortPoints() is missing for nCorners. Therefore, the algorithm does not find any corner points:

	for ( unsigned int i =0; i < nContours.size(); i++ ) {
		for(unsigned int j=0; j<4; j++){
			if ( nCorners[j] == contour2f[i] ){ // nCorners[j] != contour2f[I] after `undistortPoints()`
				cornerIndex[j] = i;
				group=j;
			}
		}
		cntPts[group].push_back(contour2f[i]);
	}

The most logical solution is to make undistort() for the original image and look for ArUco markers on an undistorted image.

Also added a check that each of the four corners is found to avoid an infinite loop.

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[AleksandrPanov]

Added check that each of the four corners is found.

[AleksandrPanov]

If each (or at least one) of the 4 corners is found, then group will not be equal to 4.

[asmorkalov]

I propose to add reference to undistortPoints and fisheye::undistortPoints to @sa. And also add note like "The function does not correct lens distortion or takes it into account. It's recommended to undistort input image with corresponging camera model, if camera parameters are known."