Working on aruco markers pipeline.

14 files changed, 230 insertions, 81 deletions

diff --git a/docs/img/aoi_description.png b/docs/img/aoi_description.png
new file mode 100644
index 0000000..794ef68
--- /dev/null
+++ b/docs/img/aoi_description.png
diff --git a/docs/img/aruco_camera_markers_detection.png b/docs/img/aruco_camera_markers_detection.png
new file mode 100644
index 0000000..0452728
--- /dev/null
+++ b/docs/img/aruco_camera_markers_detection.png
diff --git a/docs/img/aruco_markers_description.png b/docs/img/aruco_markers_description.png
new file mode 100644
index 0000000..2f3d1c2
--- /dev/null
+++ b/docs/img/aruco_markers_description.png
diff --git a/docs/img/aruco_scene.png b/docs/img/aruco_scene.png
index eee548d..d8aea8e 100644
--- a/docs/img/aruco_scene.png
+++ b/docs/img/aruco_scene.png
diff --git a/docs/img/scene.png b/docs/img/scene.png
new file mode 100644
index 0000000..818c301
--- /dev/null
+++ b/docs/img/scene.png
diff --git a/docs/user_guide/aruco_markers_pipeline/optic_parameters_calibration.md b/docs/user_guide/aruco_markers_pipeline/advanced_topics/optic_parameters_calibration.md
index 455d95a..455d95a 100644
--- a/docs/user_guide/aruco_markers_pipeline/optic_parameters_calibration.md
+++ b/docs/user_guide/aruco_markers_pipeline/advanced_topics/optic_parameters_calibration.md
diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_description.md b/docs/user_guide/aruco_markers_pipeline/aoi_description.md
new file mode 100644
index 0000000..8c57cd1
--- /dev/null
+++ b/docs/user_guide/aruco_markers_pipeline/aoi_description.md
@@ -0,0 +1,62 @@
+Describe AOI scene
+==================
+
+Once [ArUco markers are placed into a scene](aruco_markers_description.md), areas of interest need to be described into the same 3D referential.
+
+In the example scene, each screen is considered as an area of interest more the blue triangle area inside the top screen.
+
+![AOI description](../../img/aoi_description.png)
+
+All AOIs need to be described from same origin than markers in a [right-handed 3D axis](https://robotacademy.net.au/lesson/right-handed-3d-coordinate-frame/) where:
+
+* +X is pointing to the right,
+* +Y is pointing to the top,
+* +Z is pointing to the backward.
+
+!!! warning
+	All AOIs spatial values must be given in **centimeters**.
+
+### Edit OBJ file description
+
+OBJ file format could be exported from most 3D editors.
+
+``` obj
+o YellowSquare
+v 6.200003 -7.275252 25.246159
+v 31.200003 -7.275252 25.246159
+v 6.200003 1.275252 1.753843
+v 31.200003 1.275252 1.753843
+s off
+f 1 2 4 3
+o GrayRectangle
+v 2.500000 2.500000 -0.500000
+v 37.500000 2.500000 -0.500000
+v 2.500000 27.500000 -0.500000
+v 37.500000 27.500000 -0.500000
+s off
+f 5 6 8 7
+o BlueTriangle
+v 12.500002 7.500000 -0.500000
+v 27.500002 7.500000 -0.500000
+v 20.000002 22.500000 -0.500000
+s off
+f 9 10 11
+```
+
+Here are common OBJ file features needed to describe AOIs:  
+
+* Object lines (starting with *o* key) indicate AOI name.
+* Vertice lines (starting with *v* key) indicate AOI vertices.
+* Face (starting with *f* key) link vertices together.
+
+### Edit JSON file description
+
+JSON file format allows to describe AOIs vertices.
+
+``` json
+{
+    "YellowSquare": [[6.2, -7.275252, 25.246159], [31.2, -7.275252, 25.246159], [6.2, 1.275252, 1.753843], [31.2, 1.275252, 1.753843]],
+    "GrayRectangle": [[2.5, 2.5, -0.5], [37.5, 2.5, -0.5], [2.5, 27.5, -0.5], [37.5, 27.5, -0.5]],
+    "BlueTriangle": [[12.5, 7.5, -0.5], [27.5, 7.5, -0.5], [20, 22.5, -0.5]]
+}
+```
diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md b/docs/user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md
index 7b30fd1..824e466 100644
--- a/docs/user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md
+++ b/docs/user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md
@@ -1,11 +1,11 @@
 Configure and execute ArUcoCamera
 =================================
 
-Once [ArUco markers are placed into a scene](aruco_scene_creation.md) and [the camera optic have been calibrated](optic_parameters_calibration.md), everything is ready to setup an ArUco marker pipeline thanks to [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) class.
+Once [ArUco markers are placed into a scene](aruco_markers_description.md) and [areas of interest are described](aoi_description.md), everything is ready to setup an ArUco marker pipeline thanks to [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) class.
 
 As it inherits from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame), the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) class benefits from all the services described in [gaze analysis pipeline section](./user_guide/gaze_analysis_pipeline/introduction.md).
 
-![ArUco camera frame](../../img/aruco_camera_frame.png)
+![ArUco camera markers detection](../../img/aruco_camera_markers_detection.png)
 
 ## Load JSON configuration file
 
@@ -19,11 +19,11 @@ Here is a simple JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCa
 	"size": [1920, 1080],
 	"aruco_detector": {
         "dictionary": "DICT_APRILTAG_16h5",
-        "marker_size": 5,
-        "optic_parameters": "optic_parameters.json",
+        "marker_size": 5
     },
     "image_parameters": {
         "background_weight": 1,
+        ...
         "draw_detected_markers": {
             "color": [0, 255, 0],
             "draw_axes": {
@@ -55,36 +55,39 @@ The size of the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera)
 
 ### ArUco Detector
 
-The first [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) pipeline step is to detect ArUco markers inside input image.
+The first [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) pipeline step is to detect ArUco markers inside input image and estimate their poses.
 
-The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) is in charge to detect ...
+The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) is in charge to detect all markers from a specific dictionary with a given size in centimeters.
 
 !!! warning
     JSON *aruco_detector* entry is mandatory.
 
-### Image parameters (inherited from ArFrame)
+### Image parameters - *inherited from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame)*
 
-...
+The usual [ArFrame visualisation parameters](./user_guide/gaze_analysis_pipeline/visualisation.md) plus one additional *draw_detected_markers* field.
 
 ## Pipeline execution
 
-Timestamped gaze positions have to be passed one by one to [ArFrame.look](../../argaze.md/#argaze.ArFeatures.ArFrame.look) method to execute the whole intanciated pipeline.
+Pass each camera image to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method to execute the whole intanciated pipeline.
 
 ```python
-# Assuming that live Full HD (1920x1080) video stream is enabled
+# Assuming that Full HD (1920x1080) video stream or file is opened
 ...
 
 # Assuming there is a way to escape the while loop
-...
-
-    while video_stream.is_alive():
+while ...:
 
-        # Capture image from video stream
-        image = video_stream.read()
+    # Capture image from video stream of file
+    image = video_capture.read()
 
-        # Detect ArUco markers in image
-        aruco_camera.watch(image)
+    # Detect ArUco markers and more...
+    aruco_camera.watch(image)
 
-        # Do something with ArUcoCamera frame image
-        ...
+    # Display ArUcoCamera frame image to check that ArUco markers are well detected and scene is well projected
+    ... aruco_camera.image()
 ```
+
+!!! warning
+    ArUco markers pose estimation algorithm can lead to errors due to geometric ambiguities as explain in [this article](https://ieeexplore.ieee.org/document/1717461). To discard such ambiguous cases, markers should **not be parallel to camera plan**.
+
+At this point, the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) only detects ArUco markers as no scene description is provided.
\ No newline at end of file
diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
index 061fb19..1c13013 100644
--- a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
+++ b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
@@ -1,7 +1,11 @@
-Setup ArUco markers into a scene
-================================
+Set up ArUco markers
+====================
 
-First of all, ArUco markers needs to be printed and placed into the scene.
+First of all, ArUco markers needs to be printed and placed into the scene. 
+
+Here is an example scene where markers are surrounding a multi-screen workspace with a triangle area inside one of them.
+
+![Scene](../../img/scene.png)
 
 ## Print ArUco markers from a ArUco dictionary
 
@@ -40,7 +44,7 @@ Let's print some of them before to go further.
 
 Once [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) pictures are placed into a scene it is possible to describe their 3D places into a file.
 
-![ArUco scene](../../img/aruco_scene.png)
+![ArUco markers description](../../img/aruco_markers_description.png)
 
 Where ever the origin point is, all markers places need to be described in a [right-handed 3D axis](https://robotacademy.net.au/lesson/right-handed-3d-coordinate-frame/) where:
 
@@ -57,37 +61,29 @@ OBJ file format could be exported from most 3D editors.
 
 ``` obj
 o DICT_APRILTAG_16h5#0_Marker
-v -5.000000 14.960000 0.000000
-v 0.000000 14.960000 0.000000
-v -5.000000 19.959999 0.000000
-v 0.000000 19.959999 0.000000
+v 0.000000 0.000000 0.000000
+v 5.000000 0.000000 0.000000
+v 0.000000 5.000000 0.000000
+v 5.000000 5.000000 0.000000
 vn 0.0000 0.0000 1.0000
 s off
 f 1//1 2//1 4//1 3//1
 o DICT_APRILTAG_16h5#1_Marker
-v 25.000000 14.960000 0.000000
-v 30.000000 14.960000 0.000000
-v 25.000000 19.959999 0.000000
-v 30.000000 19.959999 0.000000
-vn 0.0000 0.0000 1.0000
+v -1.767767 23.000002 3.767767
+v 1.767767 23.000002 0.232233
+v -1.767767 28.000002 3.767767
+v 1.767767 28.000002 0.232233
+vn 0.7071 0.0000 0.7071
 s off
 f 5//2 6//2 8//2 7//2
 o DICT_APRILTAG_16h5#2_Marker
-v -5.000000 -5.000000 0.000000
-v 0.000000 -5.000000 0.000000
-v -5.000000 0.000000 0.000000
-v 0.000000 0.000000 0.000000
-vn 0.0000 0.0000 1.0000
+v 33.000000 -1.767767 4.767767
+v 38.000000 -1.767767 4.767767
+v 33.000000 1.767767 1.232233
+v 38.000000 1.767767 1.232233
+vn 0.0000 0.7071 0.7071
 s off
 f 9//3 10//3 12//3 11//3
-o DICT_APRILTAG_16h5#3_Marker
-v 25.000000 -5.000000 0.000000
-v 30.000000 -5.000000 0.000000
-v 25.000000 0.000000 0.000000
-v 30.000000 0.000000 0.000000
-vn 0.0000 0.0000 1.0000
-s off
-f 13//4 14//4 16//4 15//4
 ```
 
 Here are common OBJ file features needed to describe ArUco markers places:  
@@ -110,20 +106,16 @@ JSON file format allows to describe markers places using translation and euler a
     "marker_size": 5,
     "places": {
         "0": {
-            "translation": [-2.5, 17.5, 0],
-            "rotation": [0.0, 0.0, 0.0]
+            "translation": [2.5, 2.5, 0],
+            "rotation": [0, 0, 0]
         },
         "1": {
-            "translation": [27.5, 17.5, 0],
-            "rotation": [0.0, 0.0, 0.0]
+            "translation": [0, 25.5, 2],
+            "rotation": [0, 45, 0]
         },
         "2": {
-            "translation": [-2.5, -2.5, 0],
-            "rotation": [0.0, 0.0, 0.0]
-        },
-        "3": {
-            "translation": [27.5, -2.5, 0],
-            "rotation": [0.0, 0.0, 0.0]
+            "translation": [35.5, 0, 3],
+            "rotation": [-45, 0, 0]
         }
     }
 }
diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_scene.md b/docs/user_guide/aruco_markers_pipeline/aruco_scene.md
index 2f37fa7..b47fefb 100644
--- a/docs/user_guide/aruco_markers_pipeline/aruco_scene.md
+++ b/docs/user_guide/aruco_markers_pipeline/aruco_scene.md
@@ -1,9 +1,7 @@
 Add an ArUcoScene
 =================
 
-An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) class defines ...
-
-Besides, the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) class projects [ArUcoScenes](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene)'s layers into its own layers thanks to ArUco markers pose estimations made by its [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector).
+An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) class defines a space where [areas of interest description](aoi_description.md) is mapped onto [ArUco markers description](aruco_markers_description.md).
 
 ![ArUco scene](../../img/aruco_scene.png)
 
@@ -11,7 +9,7 @@ Besides, the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) cla
 
 An [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) instance can contains multiples [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene).
 
-Here is an extract from the JSON ArUcoCamera configuration file with a sample where one scene is added:
+Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration file with a sample where one scene is added:
 
 ```json
 {
@@ -20,16 +18,25 @@ Here is an extract from the JSON ArUcoCamera configuration file with a sample wh
 	...
     "scenes": {
         "MyScene" : {
-            "aruco_markers_group": "aruco_description.json"
-        },
-        "layers": {
-        	"MyLayer": {
-        		"aoi_scene": "aoi_description.obj"
-        	}
+            "aruco_markers_group": {
+                "dictionary": "DICT_APRILTAG_16h5",
+                "marker_size": 5,
+                "places": {
+                    "0": {
+                        "translation": [2.5, 2.5, 0],
+                        "rotation": [0, 0, 0]
+                    },
+                    "1": {
+                        "translation": [0, 25.5, 2],
+                        "rotation": [0, 45, 0]
+                    },
+                    "2": {
+                        "translation": [35.5, 0, 3],
+                        "rotation": [-45, 0, 0]
+                    }
+                }
+            } 
         }
-    },
-    "layers": {
-    	"MyLayer": {}
     }
     ...
 }
@@ -37,20 +44,101 @@ Here is an extract from the JSON ArUcoCamera configuration file with a sample wh
 
 Now, let's understand the meaning of each JSON entry.
 
-### "MyLayer"
+### "MyScene"
 
 The name of the [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene). Basically useful for visualisation purpose.
 
 ### ArUco markers group
 
-...
+The 3D places of ArUco markers into the scene as defined at [ArUco markers description chapter](aruco_markers_description.md). Thanks to this description, it is possible to estimate the pose of [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) in [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) frame.
+
+!!! note
+
+    [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) pose estimation is done when calling the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method.
+
+## Add ArLayer to ArUcoScene to load AOI
+
+The [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer) class allows to load areas of interest description.
+
+An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) instance can contains multiples [ArLayers](../../argaze.md/#argaze.ArFeatures.ArLayer).
+
+Here is the previous extract where one layer is added to the [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene):
+
+```json
+{
+    "name": "My FullHD camera",
+    "size": [1920, 1080],
+    ...
+    "scenes": {
+        "MyScene" : {
+            "aruco_markers_group": {
+                ...
+            },
+            "layers": {
+                "MyLayer": {
+                    "aoi_scene": {
+                        "YellowSquare": [[6.2, -7.275252, 25.246159], [31.2, -7.275252, 25.246159], [6.2, 1.275252, 1.753843], [31.2, 1.275252, 1.753843]],
+                        "GrayRectangle": [[2.5, 2.5, -0.5], [37.5, 2.5, -0.5], [2.5, 27.5, -0.5], [37.5, 27.5, -0.5]],
+                        "BlueTriangle": [[12.5, 7.5, -0.5], [27.5, 7.5, -0.5], [20, 22.5, -0.5]]
+                    }
+                }
+            } 
+        }
+    }
+    ...
+}
+```
+
+Now, let's understand the meaning of each JSON entry.
+
+### "MyLayer"
+
+The name of the [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically useful for visualisation purpose.
+
+### AOI Scene
+
+The [AOIScene](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AOIScene) defines a set of 3D [AreaOfInterest](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AreaOfInterest) registered by name.
+
+## Add ArLayer to ArUcoCamera to project AOI
+
+Here is the previous extract where one layer is added to the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera):
+
+```json
+{
+    "name": "My FullHD camera",
+    "size": [1920, 1080],
+    ...
+    "scenes": {
+        "MyScene" : {
+            "aruco_markers_group": {
+                ...
+            },
+            "layers": {
+                 "MyLayer": {
+                    "aoi_scene": {
+                        ...
+                    }
+                } 
+            } 
+        }
+    },
+    "layers": {
+        "MyLayer": {}
+    }
+    ...
+}
+```
+
+Now, let's understand the meaning of each JSON entry.
+
+### "MyLayer"
 
-### Layers
+The name of the [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically useful for visualisation purpose.
 
-...
+!!! warning
 
-### AOI scene
+    An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) layer is projected into [an ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layer, **provided they have the same name**.
 
-The [AOIScene](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AOIScene) defines a set of 2D [AreaOfInterest](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AreaOfInterest) registered by name.
+!!! note
 
-![AOI Scene](../../img/ar_layer_aoi_scene.png)
+    [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) layers are projected into their dedicated [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layers when calling the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method.
diff --git a/docs/user_guide/aruco_markers_pipeline/introduction.md b/docs/user_guide/aruco_markers_pipeline/introduction.md
index 77b93a2..a10ca28 100644
--- a/docs/user_guide/aruco_markers_pipeline/introduction.md
+++ b/docs/user_guide/aruco_markers_pipeline/introduction.md
@@ -16,12 +16,13 @@ First, let's look at the schema below: it gives an overview of the main notions
 To build your own ArUco markers pipeline, you need to know:
 
 * [How to setup ArUco markers into a scene](aruco_markers_description.md),
-* [How to calibrate optic parameters](optic_parameters_calibration.md),
+* [How to describe areas of interest in the same scene](aoi_description.md),
 * [How to deal with an ArUcoCamera instance](aruco_camera_configuration_and_execution.md),
-* [How to add ArLayer instance](ar_layer.md),
-* [How to visualize ArUcoCamera and ArLayers](visualisation.md)
+* [How to add ArUcoScene instance](aruco_scene.md),
+* [How to visualize ArUcoCamera and ArUcoScenes](visualisation.md)
 
 More advanced features are also explained like:
 
 * [How to script ArUco markers pipeline](advanced_topics/scripting.md)
+* [How to calibrate optic parameters](optic_parameters_calibration.md)
 * [How to improve ArUco markers detection](advanced_topics/aruco_detector_configuration.md)
diff --git a/docs/user_guide/gaze_analysis_pipeline/ar_layer.md b/docs/user_guide/gaze_analysis_pipeline/ar_layer.md
index 9261e97..f0291c3 100644
--- a/docs/user_guide/gaze_analysis_pipeline/ar_layer.md
+++ b/docs/user_guide/gaze_analysis_pipeline/ar_layer.md
@@ -9,7 +9,7 @@ The [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer) class defines a space
 
 An [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame) instance can contains multiples [ArLayers](../../argaze.md/#argaze.ArFeatures.ArLayer).
 
-Here is an extract from the JSON ArFrame configuration file with a sample where one layer is added:
+Here is an extract from the JSON [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame) configuration file with a sample where one layer is added:
 
 ```json
 {
diff --git a/docs/user_guide/gaze_analysis_pipeline/timestamped_gaze_positions_edition.md b/docs/user_guide/gaze_analysis_pipeline/timestamped_gaze_positions_edition.md
index 73ed9e1..493471e 100644
--- a/docs/user_guide/gaze_analysis_pipeline/timestamped_gaze_positions_edition.md
+++ b/docs/user_guide/gaze_analysis_pipeline/timestamped_gaze_positions_edition.md
@@ -1,4 +1,4 @@
-Edit Timestamped Gaze Positions
+Edit timestamped gaze positions
 ===============================
 
 Whatever eye data comes from a file on disk or from a live stream, timestamped gaze positions are required before to go further.
diff --git a/mkdocs.yml b/mkdocs.yml
index 6347224..d9cd27e 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -24,9 +24,12 @@ nav:
   - ArUco markers pipeline:
     - user_guide/aruco_markers_pipeline/introduction.md
     - user_guide/aruco_markers_pipeline/aruco_markers_description.md
-    - user_guide/aruco_markers_pipeline/optic_parameters_calibration.md
+    - user_guide/aruco_markers_pipeline/aoi_description.md
     - user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md
     - user_guide/aruco_markers_pipeline/aruco_scene.md
+    - Advanced Topics:
+      - user_guide/aruco_markers_pipeline/advanced_topics/optic_parameters_calibration.md
+
 #  - ArUco Markers: 
 #    - user_guide/aruco_markers/introduction.md
 #    - user_guide/aruco_markers/dictionary_selection.md