Complete Calibration and Detection Procedure

Step 1: Setup Configuration Files

1. Create arena_config.yml with fixed marker positions:

   markers:
     - id: 1
       position: [0, 0]
     - id: 2
       position: [0, 1]
     - id: 3
       position: [0, 2]
   

2. Create arena_transformation.yml with an initial transformation matrix (example identity matrix):

   transformation_matrix: !!opencv-matrix
      rows: 3
      cols: 3
      dt: d
      data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
   

Step 2: Calibrate the Camera

1. Run the calibration_webcam node to capture frames and calibrate the camera:

   rosrun your_package calibration_webcam
   

2. Follow the on-screen instructions to capture at least 10 frames of the chessboard pattern from different angles and positions.

3. The calibration parameters will be saved to camera_parameters.yml.

Step 3: Calibrate the Arena

1. Run the arena_calibration node to detect ArUco markers and calibrate the arena:

   rosrun your_package arena_calibration
   

2. The detected marker positions and transformation matrix will be saved to arena_config.yml and arena_transformation.yml respectively.

Step 4: Run the Main Node

1. Run the aruco_detector node to detect ArUco markers and display their positions in the arena:

   rosrun your_package aruco_detector
   

2. The node will process frames from the camera, detect ArUco markers, and display their positions in the arena frame.