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Jonas Perolini
37f3c7539b
Use validBitIdThreshold for Aruco refineDetectedMarkers #29252 The goal of this PR is to solve the issue raised by @vrabaud in https://github.com/opencv/opencv/pull/28289 (comment: https://github.com/opencv/opencv/pull/28289#discussion_r3355812646). **Issue:** `refineDetectedMarkers()` converted the extracted cell ratios with `convertTo(CV_8UC1)` (an implicit 0.5 threshold) before computing the code distance, ignoring `detectorParams.validBitIdThreshold`. **Solution:** Make the refine path consistent with the main detection path `Dictionary::identify`. **Changes:** - Add a `Dictionary::getDistanceToId()` overload that takes the float cell pixel ratio matrix and `validBitIdThreshold` (similar to how it's done for the `identify()` overload. - Move the per cell distance computation into a private `getDistanceToIdImpl` helper used by both `identify()` and the new overload of `getDistanceToId()` to avoid repetitions. - `refineDetectedMarkers()` now calls the new overload. **Tests:** - `CV_ArucoRefine.validBitIdThreshold`: a marker with one degraded cell is recovered at threshold 0.7 but not at 0.49. - `CV_ArucoDictionary.getDistanceToIdCellPixelRatio`: unit-tests both `getDistanceToId` overloads. All passed