Fixes#24113
cornerRefinementMethod=CORNER_REFINE_SUBPIX does not work correctly with markers that are too close to each other.

NowcornerRefinementWinSize is recalculated for each marker as:
cornerRefinementWinSize = min(cornerRefinementWinSize, averageArucoPinSize*relativeCornerRefinmentWinSize)
relativeCornerRefinmentWinSize=0.3 by default and could be changed

Also the method has been tested by thebenchmark, 289 aruco boards like this were tested:

command line to generate and run (also need set cornerRefinementMethod: 1 and cornerRefinementWinSize: 10 in aruco_params.yml):

objdetect_benchmark.py --marker_length_rate=0.1 --board_x=6 -p=res --rel_center_y=0.53 --rel_center_x=0.56 --synthetic_object=aruco

tested with cornerRefinementWinSize=10
error in pixels withold cornerRefinementMethod:

mean detected error in pixels 5.912010732442689

error in pixels withnew cornerRefinementMethod:

mean detected error in pixels 0.991642490414958

command line to show histogram:

--configuration=show -d1=old.json --marker_length_rate=0.1 --board_x=6 -p=res --rel_center_y=0.53 --rel_center_x=0.56 --synthetic_object=aruco

new.json.txt
old.json.txt

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