Questions

1. Initialize the ORB detector, find keypoints, and compute descriptors in the loaded image image with ORB
2. Draw the previously detected keypoints
3. Create the BFMatcher object and match the descriptors_1 and descriptors_2, which have been previously calculated
4. Sort the matches calculated before and draw the first 20 matches
5. Detect markers using ArUco in the gray_frame image
6. Draw detected markers using ArUco
7. Draw rejected markers using ArUco
8. Detect and decode a QR code contained in the image image