From 0b1f865b7dda85f07e869d01a270becc1c2927a1 Mon Sep 17 00:00:00 2001
From: Anton David Guaman Davila <adavidguamandavila@gmail.com>
Date: Sat, 13 Jan 2024 21:43:49 -0330
Subject: [PATCH] Commented the code

---
 src/object_detection.cpp | 27 +++++++++++++++------------
 1 file changed, 15 insertions(+), 12 deletions(-)

diff --git a/src/object_detection.cpp b/src/object_detection.cpp
index a36d859..4d6d1c1 100755
--- a/src/object_detection.cpp
+++ b/src/object_detection.cpp
@@ -19,19 +19,20 @@
 #include <jsoncpp/json/json.h>
 #include "DetectedObject.h"
 
-
+// Image_Finder class definition
 class Image_Finder {
 public:
-    
+    // Constructor
     Image_Finder() : nh_("") {
-        // Subscribe to camera topic publishing data
+        // Subscribing to a camera topic to receive image data
         sub_img_ = nh_.subscribe("/camera/color/image_raw", 1, &Image_Finder::imageCallback, this);
+        // Setting up a publisher for the detected objects
         publisher = nh_.advertise<object_detection_pkg::DetectedObjsArray>("/Detected_Objects", 1);
     }
 
     // Function to continue the life of the node
     void spin() {
-        ros::Rate rate(100); // 2Hz
+        ros::Rate rate(100); // Setting a rate of 100Hz
         while (ros::ok()) {
             ros::spinOnce();
             rate.sleep();
@@ -44,17 +45,18 @@ class Image_Finder {
     ros::Publisher publisher;
     object_detection_pkg::DetectedObjsArray detected_objs_array;
 
+    // Callback function for image data from the subscribed topic
     void imageCallback(const sensor_msgs::Image::ConstPtr& msg) {
         if (msg->data.empty()) {
             ROS_WARN("Received image message with empty data. Not saving the image.");
             return; // Exit early if the image data is empty
         }
 
-        // Ensure the temp_files directory exists
+        // Ensuring the directory for saving images exists
         std::string directory = "/home/david/Documents/catkin_ws/src/object_detection_pkg/temp_files";
         mkdir(directory.c_str(), 0777);
         
-        // Convert the sensor_msgs/Image to an OpenCV image
+        // Converting ROS image message to OpenCV image
         cv_bridge::CvImagePtr cv_ptr;
         try {
             cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
@@ -63,7 +65,7 @@ class Image_Finder {
             return;
         }
 
-        // Save the OpenCV image to a file
+        // Saving the OpenCV image to a file
         std::string image_filename = directory + "/image.png";
         if (!cv::imwrite(image_filename, cv_ptr->image)) {
             ROS_ERROR("Failed to save image to %s", image_filename.c_str());
@@ -71,7 +73,7 @@ class Image_Finder {
         }
         ROS_INFO("Saved image to %s", image_filename.c_str());
 
-        // Run the Python script
+        // Running a Python script for object detection
         std::string python_command = "python3 /home/david/Documents/catkin_ws/src/object_detection_pkg/src/yolov5_image_analyzer.py " + image_filename;
         int return_code = system(python_command.c_str());
         if (return_code != 0) {
@@ -79,13 +81,12 @@ class Image_Finder {
             return;
         }
 
-        // Wait briefly to ensure the Python script has time to write the JSON file
+        // Waiting for the script to complete and generate JSON output
         ros::Duration(1.0).sleep(); // Adjust the duration if needed
 
-        // Define the path to the JSON file
+        // Reading the JSON output from the Python script
         std::string json_file_path = "/home/david/Documents/catkin_ws/src/object_detection_pkg/temp_files/detected_objects.json";
 
-        // Read and parse the JSON file
         std::ifstream json_file(json_file_path);
         if (!json_file.is_open()) {
             ROS_ERROR("Failed to open JSON file: %s", json_file_path.c_str());
@@ -98,6 +99,7 @@ class Image_Finder {
         parseAndProcessJSONOutput(json_content);
     }
 
+    // Function to parse JSON output and process detected objects
     void parseAndProcessJSONOutput(const std::string& json_output) {
         if (json_output.empty() || std::all_of(json_output.begin(), json_output.end(), isspace)) {
             ROS_WARN("JSON output is empty or only contains whitespaces.");
@@ -117,7 +119,7 @@ class Image_Finder {
             ROS_INFO("JSON array is empty. No objects detected.");
             return;
         }
-
+        // Parsing each object in the JSON array
         for (const auto& obj : root) {
             object_detection_pkg::ObjDetected detected_obj;
             detected_obj.class_name = obj["class_name"].asString();
@@ -129,6 +131,7 @@ class Image_Finder {
             
             detected_objs_array.objects.push_back(detected_obj);
         }
+        // Publishing the array of detected objects and clearing the array for the next callback
         publisher.publish(detected_objs_array);
         detected_objs_array.objects.clear();
     }