functional node using OpenCV

test/package.xml

@@ -4,30 +4,18 @@
   <version>0.0.0</version>
   <description>The test package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <maintainer email="user@example.com">Your Name</maintainer>
-  <!-- Example:  -->
+  <license>BSD</license>
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="thomas@todo.todo">thomas</maintainer>
 
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
   <!-- <url type="website">http://wiki.ros.org/test</url> -->
 
-
   <!-- Author tags are optional, multiple are allowed, one per tag -->
   <!-- Authors do not have to be maintainers, but could be -->
   <!-- Example: -->
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
 
-
   <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
@@ -48,12 +36,25 @@
   <!--   <test_depend>gtest</test_depend> -->
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
+
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>opencv</build_depend>
 
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>opencv</exec_depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>

test/src/QRcode.cpp

@@ -1,56 +1,69 @@
 #include <ros/ros.h>
-#include <image_transport/image_transport.h>
 #include <cv_bridge/cv_bridge.h>
 #include <opencv2/aruco.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-void imageCallback(const sensor_msgs::ImageConstPtr& msg)
+void processFrame(const cv::Mat& frame)
 {
-    try
+    // Create ArUco marker detector
+    cv::Ptr<cv::aruco::Dictionary> dictionary = 
+        cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50); // Change dictionary type here
+    std::vector<int> markerIds;
+    std::vector<std::vector<cv::Point2f>> markerCorners;
+
+    // Detect markers in the image
+    cv::aruco::detectMarkers(frame, dictionary, markerCorners, markerIds);
+
+    // Draw detected markers
+    if (!markerIds.empty())
     {
-        // Convert ROS image message to OpenCV image
+        cv::aruco::drawDetectedMarkers(frame, markerCorners, markerIds);
-        cv::Mat frame = cv_bridge::toCvShare(msg, "bgr8")->image;
+        ROS_INFO("Detected %zu ArUco markers", markerIds.size());
-
+        for (size_t i = 0; i < markerIds.size(); ++i)
-        // Create ArUco marker detector
-        cv::Ptr<cv::aruco::Dictionary> dictionary = 
-            cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
-        std::vector<int> markerIds;
-        std::vector<std::vector<cv::Point2f>> markerCorners;
-
-        // Detect markers in the image
-        cv::aruco::detectMarkers(frame, dictionary, markerCorners, markerIds);
-
-        // Draw detected markers
-        if (!markerIds.empty())
         {
-            cv::aruco::drawDetectedMarkers(frame, markerCorners, markerIds);
+            ROS_INFO("Marker ID: %d", markerIds[i]);
-            ROS_INFO("Detected %zu ArUco markers", markerIds.size());
         }
-        else
-        {
-            ROS_INFO("No ArUco markers detected");
-        }
-
-        // Display the result
-        cv::imshow("ArUco Detection", frame);
-        cv::waitKey(1);
     }
-    catch (cv_bridge::Exception& e)
+    else
     {
-        ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
+        ROS_INFO("No ArUco markers detected");
     }
+
+    // Display the result
+    cv::imshow("ArUco Detection", frame);
+    cv::waitKey(1);
 }
 
 int main(int argc, char** argv)
 {
     ros::init(argc, argv, "qr_code_detector");
     ros::NodeHandle nh;
-    image_transport::ImageTransport it(nh);
+
-    image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
+    cv::VideoCapture cap(0); // Open the default camera
+    if (!cap.isOpened())
+    {
+        ROS_ERROR("Could not open the camera");
+        return -1;
+    }
 
     cv::namedWindow("ArUco Detection");
-    ros::spin();
+
+    while (ros::ok())
+    {
+        cv::Mat frame;
+        cap >> frame; // Capture a new frame from the camera
+
+        if (frame.empty())
+        {
+            ROS_ERROR("Captured empty frame");
+            continue;
+        }
+
+        processFrame(frame);
+        ros::spinOnce();
+    }
+
     cv::destroyWindow("ArUco Detection");
     return 0;
-}
+}