work nice with a larger area + add comments on QRcode.cpp

README.md

@@ -50,3 +50,80 @@
     ```
 
 2. The node will process frames from the camera, detect ArUco markers, and display their positions in the arena frame.
+
+### Additional Information
+
+#### Dependencies
+
+Ensure you have the following dependencies installed:
+- ROS
+- OpenCV
+- yaml-cpp
+
+#### Building the Package
+
+1. Navigate to your catkin workspace:
+    ```bash
+    cd ~/catkin_ws
+    ```
+
+2. Build the package:
+    ```bash
+    catkin build test
+    ```
+
+3. Source the workspace:
+    ```bash
+    source devel/setup.bash
+    ```
+
+#### Running the Nodes
+
+1. Start the ROS master node:
+    ```bash
+    roscore
+    ```
+
+2. In a new terminal, run the desired node as described in the steps above.
+
+#### Troubleshooting
+
+- If the camera is not detected, ensure it is properly connected and recognized by the system.
+- If not enough markers are detected, try adjusting the lighting conditions or the camera position.
+- Ensure all configuration files (`camera_parameters.yml`, `arena_config.yml`, `arena_transformation.yml`) are correctly formatted and located in the appropriate directory.
+
+#### Example Configuration Files
+
+`camera_parameters.yml`:
+```yaml
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [k1, k2, p1, p2, k3]
+```
+
+`arena_config.yml`:
+```yaml
+markers:
+  - id: 1
+    position: [0, 0]
+  - id: 2
+    position: [0, 1]
+  - id: 3
+    position: [0, 2]
+```
+
+`arena_transformation.yml`:
+```yaml
+transformation_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+```

test/src/QRcode.cpp

@@ -7,10 +7,12 @@
 #include <thread>
 #include <yaml-cpp/yaml.h>
 
+// Global variables for camera parameters and marker positions
 cv::Mat cameraMatrix, distCoeffs;
 std::map<int, cv::Point2f> markerPositions;
 cv::Mat transformationMatrix;
 
+// Function to load marker positions from a YAML file
 void loadMarkerPositions(const std::string& filename)
 {
     try
@@ -29,6 +31,7 @@ void loadMarkerPositions(const std::string& filename)
     }
 }
 
+// Function to load the transformation matrix from a YAML file
 void loadTransformationMatrix(const std::string& filename)
 {
     cv::FileStorage fs(filename, cv::FileStorage::READ);
@@ -41,6 +44,7 @@ void loadTransformationMatrix(const std::string& filename)
     fs.release();
 }
 
+// Function to apply gamma correction to an image
 cv::Mat gammaCorrection(const cv::Mat& image, double gamma = 0.4)
 {
     cv::Mat lookUpTable(1, 256, CV_8U);
@@ -53,6 +57,7 @@ cv::Mat gammaCorrection(const cv::Mat& image, double gamma = 0.4)
     return corrected;
 }
 
+// Function to upscale an image
 cv::Mat upscaleImage(const cv::Mat& image, double scaleFactor = 3.0)
 {
     cv::Mat upscaled;
@@ -60,6 +65,7 @@ cv::Mat upscaleImage(const cv::Mat& image, double scaleFactor = 3.0)
     return upscaled;
 }
 
+// Function to sharpen an image
 cv::Mat sharpenImage(const cv::Mat& image)
 {
     cv::Mat sharpeningKernel = (cv::Mat_<float>(3, 3) << 0, -1, 0, -1, 5, -1, 0, -1, 0);
@@ -68,6 +74,7 @@ cv::Mat sharpenImage(const cv::Mat& image)
     return sharpened;
 }
 
+// Function to reduce noise in an image
 cv::Mat reduceNoise(const cv::Mat& image)
 {
     cv::Mat denoised;
@@ -75,6 +82,7 @@ cv::Mat reduceNoise(const cv::Mat& image)
     return denoised;
 }
 
+// Function to enhance an image by applying various processing steps
 cv::Mat enhanceImage(const cv::Mat& image)
 {
     // Apply gamma correction
@@ -95,6 +103,7 @@ cv::Mat enhanceImage(const cv::Mat& image)
     return enhanced;
 }
 
+// Function to process a frame and detect ArUco markers
 void processFrame(cv::Mat& frame)
 {
     // Apply image processing steps
@@ -195,6 +204,7 @@ void processFrame(cv::Mat& frame)
     cv::waitKey(1);
 }
 
+// Thread function to continuously capture and process frames from the camera
 void frameProcessingThread()
 {
     cv::VideoCapture cap(0, cv::CAP_V4L2); // Open the default camera with V4L2 backend
@@ -225,6 +235,7 @@ void frameProcessingThread()
     }
 }
 
+// Main function
 int main(int argc, char** argv)
 {
     ros::init(argc, argv, "aruco_detector");