Merge branch 4.x

modules/objdetect/include/opencv2/objdetect/aruco_dictionary.hpp

@@ -65,7 +65,7 @@ class CV_EXPORTS_W_SIMPLE Dictionary {
      */
     CV_WRAP bool identify(const Mat &onlyBits, CV_OUT int &idx, CV_OUT int &rotation, double maxCorrectionRate) const;
 
-    /** @brief Given a matrix of pixel ratio raging from 0 to 1. Returns whether if marker is identified or not.
+    /** @brief Given a matrix of pixel ratio ranging from 0 to 1. Returns whether the marker is identified or not.
      *
      * Returns reference to the marker id in the dictionary (if any) and its rotation.
      */
@@ -77,6 +77,22 @@ class CV_EXPORTS_W_SIMPLE Dictionary {
      */
     CV_WRAP int getDistanceToId(InputArray bits, int id, bool allRotations = true) const;
 
+    /** @brief Returns number of cells that differ from the specific id.
+     *
+     * For each cell, the distance is increased when the difference between the detected
+     * cell pixel ratio and the dictionary bit value is greater than `validBitIdThreshold`.
+     * If `allRotations` is set, the four possible marker rotations are considered.
+     *
+     * @param onlyCellPixelRatio markerSize x markerSize matrix (CV_32FC1) holding, for each cell,
+     * the ratio of white pixels ranging from 0 to 1
+     * @param id marker id in the dictionary to compute the distance to
+     * @param allRotations if set, the four possible marker rotations are considered and the
+     * smallest distance is returned
+     * @param validBitIdThreshold maximum allowed difference between a cell pixel ratio and the
+     * dictionary bit value; cells exceeding it are counted as differing
+     */
+    CV_WRAP int getDistanceToId(InputArray onlyCellPixelRatio, int id, bool allRotations, float validBitIdThreshold) const;
+
     /** @brief Generate a canonical marker image
      */
     CV_WRAP void generateImageMarker(int id, int sidePixels, OutputArray _img, int borderBits = 1) const;