It seems that this method was not exposed to the python interface when moved from contrib, because it is mentioned in the documentation, but can not be used from within python:
import cv2 function = cv2.aruco.calibrateCameraCharuco print(function)
AttributeError: module 'cv2.aruco' has no attribute 'calibrateCameraCharuco'.
Or could someone give me a hint how to use it? I am using python
3.8.9 and opencv