Improving aruco markers gaze analysis pipeline documentation.

12 files changed, 213 insertions, 134 deletions

diff --git a/docs/img/aruco_camera_aoi_projection.png b/docs/img/aruco_camera_aoi_projection.png
new file mode 100644
index 0000000..59a8ab0
--- /dev/null
+++ b/docs/img/aruco_camera_aoi_projection.png
diff --git a/docs/img/aruco_camera_frame.png b/docs/img/aruco_camera_frame.png
index 4b2a9a2..443285f 100644
--- a/docs/img/aruco_camera_frame.png
+++ b/docs/img/aruco_camera_frame.png
diff --git a/docs/img/aruco_camera_gaze_movement_identification.png b/docs/img/aruco_camera_gaze_movement_identification.png
new file mode 100644
index 0000000..fc9ff39
--- /dev/null
+++ b/docs/img/aruco_camera_gaze_movement_identification.png
diff --git a/docs/img/aruco_camera_markers_detection.png b/docs/img/aruco_camera_markers_detection.png
index 0452728..6192e09 100644
--- a/docs/img/aruco_camera_markers_detection.png
+++ b/docs/img/aruco_camera_markers_detection.png
diff --git a/docs/img/aruco_camera_pose_estimation.png b/docs/img/aruco_camera_pose_estimation.png
new file mode 100644
index 0000000..b6c2675
--- /dev/null
+++ b/docs/img/aruco_camera_pose_estimation.png
diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_analysis.md b/docs/user_guide/aruco_markers_pipeline/aoi_analysis.md
new file mode 100644
index 0000000..05afcd3
--- /dev/null
+++ b/docs/user_guide/aruco_markers_pipeline/aoi_analysis.md
@@ -0,0 +1,58 @@
+Add AOI analysis
+================
+
+
+
+## Add AOIMatcher, AOIScanPath and AOIScanPathAnalyzers to ArUcoCamera layer to enable gaze analysis
+
+Here is the previous extract where AOI matcher, AOI scan path and AOI scan path analyzers are added to the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layer:
+
+```json
+{
+    "name": "My FullHD camera",
+    "size": [1920, 1080],
+    ...
+    "scenes": {
+        "MyScene" : {
+            "aruco_markers_group": {
+                ...
+            },
+            "layers": {
+                 "MyLayer": {
+                    "aoi_scene": {
+                        ...
+                    }
+                } 
+            } 
+        }
+    },
+    "layers": {
+        "MyLayer": {
+            "aoi_matcher": {
+                "DeviationCircleCoverage": {
+                    "coverage_threshold": 0.5
+                }
+            },
+            "aoi_scan_path": {
+                "duration_max": 30000
+            },
+            "aoi_scan_path_analyzers": {
+                "Basic": {},
+                "TransitionMatrix": {},
+                "NGram": {
+                    "n_min": 3,
+                    "n_max": 5
+                }
+            }
+        }
+    },
+    "gaze_movement_identifier": {
+        ...
+    }
+    ...
+}
+```
+
+!!! warning
+
+    Adding scan path and scan path analyzers to [an ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layer doesn't make sense if the camera is moving.
\ No newline at end of file
diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_description.md b/docs/user_guide/aruco_markers_pipeline/aoi_description.md
index 80ad858..101ec9f 100644
--- a/docs/user_guide/aruco_markers_pipeline/aoi_description.md
+++ b/docs/user_guide/aruco_markers_pipeline/aoi_description.md
@@ -1,5 +1,5 @@
-Describe AOI scene
-==================
+Describe AOI
+============
 
 Once [ArUco markers are placed into a scene](aruco_markers_description.md), areas of interest need to be described into the same 3D referential.
 
diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_scene.md b/docs/user_guide/aruco_markers_pipeline/aoi_projection.md
index 91d2702..027f805 100644
--- a/docs/user_guide/aruco_markers_pipeline/aruco_scene.md
+++ b/docs/user_guide/aruco_markers_pipeline/aoi_projection.md
@@ -1,66 +1,15 @@
-Add an ArUcoScene
-=================
+Project AOI into camera frame
+=============================
 
-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).
+Once [ArUcoScene pose is estimated](pose_estimation.md) and [AOI are described](aoi_description.md), AOI can be projected into [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) frame.
 
-![ArUco scene](../../img/aruco_scene.png)
-
-## Add ArUcoScene to ArUcoCamera JSON configuration file
-
-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](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration file with a sample where one scene is added:
-
-```json
-{
-	"name": "My FullHD camera",
-	"size": [1920, 1080],
-	...
-    "scenes": {
-        "MyScene" : {
-            "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]
-                    }
-                }
-            } 
-        }
-    }
-    ...
-}
-```
-
-Now, let's understand the meaning of each JSON entry.
-
-### "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.
+![AOI projection](../../img/aruco_camera_aoi_projection.png)
 
 ## 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):
+Here is the previous extract where one layer is added to the [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) configuration:
 
 ```json
 {
@@ -99,7 +48,7 @@ The [AOIScene](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AOIScene) defi
 
 ## 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):
+Here is the previous extract where one layer is added to the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) and displayed:
 
 ```json
 {
@@ -121,19 +70,22 @@ Here is the previous extract where one layer is added to the [ArUcoCamera](../..
         }
     },
     "layers": {
-        "MyLayer": {
-            "aoi_matcher": {
-                ...
-            },
-            "aoi_scan_path": {
-                "duration_max": 30000
-            },
-            "aoi_scan_path_analyzers": {
-                ...
+        "MyLayer": {}
+    }
+    ...
+    "image_parameters": {
+        ...
+        "draw_layers": {
+            "MyLayer": {
+                "draw_aoi_scene": {
+                    "draw_aoi": {
+                        "color": [255, 255, 255],
+                        "border_size": 1
+                    }
+                }
             }
         }
     }
-    ...
 }
 ```
 
@@ -143,7 +95,7 @@ Now, let's understand the meaning of each JSON entry.
 
 The name of the [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically useful for visualisation purpose.
 
-!!! warning
+!!! warning "Layer name policy"
 
     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**.
 
@@ -151,46 +103,11 @@ The name of the [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically
 
     [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.
 
-## Add GazeMovementIdentifier to ArUcocamera to enable gaze movement identification
+## Add AOI analysis
 
-Here is the previous extract where gaze movement identifier is added to the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera):
+When a scene layer is projected into a camera layer, it means that the 3D [ArLayer.aoi_scene](../../argaze.md/#argaze.ArFeatures.ArLayer.aoi_scene) description of the scene becomes the 2D camera's [ArLayer.aoi_scene](../../argaze.md/#argaze.ArFeatures.ArLayer.aoi_scene) description of the camera.
 
-```json
-{
-    "name": "My FullHD camera",
-    "size": [1920, 1080],
-    ...
-    "scenes": {
-        "MyScene" : {
-            "aruco_markers_group": {
-                ...
-            },
-            "layers": {
-                 "MyLayer": {
-                    "aoi_scene": {
-                        ...
-                    }
-                } 
-            } 
-        }
-    },
-    "layers": {
-        "MyLayer": {}
-    },
-    "gaze_movement_identifier": {
-        "DispersionThresholdIdentification": {
-            "deviation_max_threshold": 50,
-            "duration_min_threshold": 200
-        }
-    }
-    ...
-}
-```
-!!! note
-
-    Timestamped gaze positions are [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layers execution is done when calling the [ArUcoCamera.look](../../argaze.md/#argaze.ArFeatures.ArCamera.look) method.
-
-## Add AOIMatcher, AOIScanPath and AOIScanPathAnalyzers to ArUcoCamera layer to enable gaze analysis
+Therefore, it means that [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) benefits from all the services described in [AOI analysis pipeline section](../gaze_analysis_pipeline/aoi_analysis.md).
 
 Here is the previous extract where AOI matcher, AOI scan path and AOI scan path analyzers are added to the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layer:
 
@@ -232,9 +149,6 @@ Here is the previous extract where AOI matcher, AOI scan path and AOI scan path
                 }
             }
         }
-    },
-    "gaze_movement_identifier": {
-        ...
     }
     ...
 }
@@ -242,4 +156,4 @@ Here is the previous extract where AOI matcher, AOI scan path and AOI scan path
 
 !!! warning
 
-    Adding scan path and scan path analyzers to [an ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layer doesn't make sense if the camera is moving.
\ No newline at end of file
+    Adding scan path and scan path analyzers to an [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layer doesn't make sense if the camera is moving.
diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
index ba19e45..81c577f 100644
--- a/docs/user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md
+++ b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
@@ -1,9 +1,9 @@
-Configure and execute ArUcoCamera
-=================================
+Load and execute pipeline
+=========================
 
-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.
+Once [ArUco markers are placed into a scene](aruco_markers_description.md), they can be detected thanks to [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) class.
 
-As [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) 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).
+As [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) inherits from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame), the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) class also 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)
 
@@ -21,9 +21,26 @@ Here is a simple JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCa
         "dictionary": "DICT_APRILTAG_16h5",
         "marker_size": 5
     },
+    "gaze_movement_identifier": {
+        "DispersionThresholdIdentification": {
+            "deviation_max_threshold": 25,
+            "duration_min_threshold": 150
+        }
+    },
     "image_parameters": {
         "background_weight": 1,
-        ...
+        "draw_gaze_positions": {
+            "color": [0, 255, 255],
+            "size": 2
+        },
+        "draw_fixations": {
+            "deviation_circle_color": [255, 0, 255],
+            "duration_border_color": [127, 0, 127],
+            "duration_factor": 1e-2
+        }, 
+        "draw_saccades": {
+            "line_color": [255, 0, 255]
+        },
         "draw_detected_markers": {
             "color": [0, 255, 0],
             "draw_axes": {
@@ -57,20 +74,28 @@ The size of the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera)
 
 The first [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) pipeline step is to detect ArUco markers inside input image and estimate their poses.
 
+![ArUco markers detection](../../img/aruco_camera_markers_detection.png)
+
 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
+!!! warning "Mandatory"
     JSON *aruco_detector* entry is mandatory.
 
+### Gaze Movement Identifier - *inherited from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame)*
+
+The first [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame) pipeline step dedicated to identify fixations or saccades from consecutive timestamped gaze positions.
+
+![Gaze movement identification](../../img/aruco_camera_gaze_movement_identification.png)
+
 ### 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
 
-### Detect ArUco markers, estimate scene pose and project scene
+### Detect ArUco markers, estimate scene pose and project AOI
 
-Pass each camera image to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method to execute the whole pipeline dedicated to ArUco markers detection, scene pose estimation and projection.
+Pass each camera image to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method to execute the whole pipeline dedicated to ArUco markers detection, scene pose estimation and AOI projection.
 
 ```python
 # Assuming that Full HD (1920x1080) video stream or file is opened
@@ -82,17 +107,15 @@ Pass each camera image to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures
     # Capture image from video stream of file
     image = video_capture.read()
 
-    # Detect ArUco markers, estimate scene pose then, project scene into camera frame
+    # Detect ArUco markers, estimate scene pose then, project AOI into camera frame
     aruco_camera.watch(image)
 
-    # Display ArUcoCamera frame image to check that ArUco markers are well detected and scene is well projected
+    # Display ArUcoCamera frame image to display detected ArUco markers, scene pose, AOI projection and ArFrame visualisation.
     ... 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**.
-
-
+!!! warning "Pose estimation error"
+    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 **as less as possible be parallel to camera plan**.
 
 ### Analyse timestamped gaze positions into camera frame
 
@@ -108,8 +131,8 @@ Particularly, timestamped gaze positions can be passed one by one to [ArUcoCamer
     aruco_camera.look(timestamp, gaze_position)
 ```
 
-!!! warning ""
+!!! note ""
 
-    At this point, the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method only detects ArUco markers and the [ArUcoCamera.look](../../argaze.md/#argaze.ArFeatures.ArCamera.look) method is not able to analyze gaze positions as no scene description is provided into the JSON configuration file. 
+    At this point, the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method only detects ArUco markers and the [ArUcoCamera.look](../../argaze.md/#argaze.ArFeatures.ArCamera.look) method only process gaze movement identification without any AOI support as no scene description is provided into the JSON configuration file.
 
-    Read the next chapters to learn [how to enable scene pose estimation and its projection](aruco_scene.md).
\ No newline at end of file
+    Read the next chapters to learn [how to estimate scene pose](pose_estimation.md) and [how to project AOI](aoi_projection.md).
\ No newline at end of file
diff --git a/docs/user_guide/aruco_markers_pipeline/introduction.md b/docs/user_guide/aruco_markers_pipeline/introduction.md
index a10ca28..836569a 100644
--- a/docs/user_guide/aruco_markers_pipeline/introduction.md
+++ b/docs/user_guide/aruco_markers_pipeline/introduction.md
@@ -16,9 +16,10 @@ 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 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 ArUcoScene instance](aruco_scene.md),
+* [How to describe scene's AOI](aoi_description.md),
+* [How to load and execute ArUco markers pipeline](configuration_and_execution.md),
+* [How to estimate scene pose](pose_estimation.md),
+* [How to project AOI into camera frame](aoi_projection.md),
 * [How to visualize ArUcoCamera and ArUcoScenes](visualisation.md)
 
 More advanced features are also explained like:
diff --git a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
new file mode 100644
index 0000000..6acafee
--- /dev/null
+++ b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
@@ -0,0 +1,82 @@
+Estimate scene pose
+===================
+
+An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) class defines a space with [ArUco markers inside](aruco_markers_description.md) helping to estimate scene pose when they are watched by [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera).
+
+![Scene pose estimation](../../img/aruco_camera_pose_estimation.png)
+
+## Add ArUcoScene to ArUcoCamera JSON configuration file
+
+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](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration file with a sample where one scene is added and displayed:
+
+```json
+{
+	"name": "My FullHD camera",
+	"size": [1920, 1080],
+	...
+    "scenes": {
+        "MyScene" : {
+            "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]
+                    }
+                }
+            } 
+        }
+    }
+    ...
+    "image_parameters": {
+        ...
+        "draw_scenes": {
+            "MyScene": {
+                "draw_aruco_markers_group": {
+                    "draw_axes": {
+                        "thickness": 3,
+                        "length": 10
+                    },
+                    "draw_places": {
+                        "color": [0, 0, 0],
+                        "border_size": 1
+                    },
+                    "draw_places_axes": {
+                        "thickness": 1,
+                        "length": 2.5
+                    }
+                }
+            }
+        }
+    }
+}
+```
+
+Now, let's understand the meaning of each JSON entry.
+
+### "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.
+
+### Draw scenes
+
+The drawing parameters of each loaded [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) in [ArUcoCamera.image](../../argaze.md/#argaze.ArFeatures.ArFrame.image).
diff --git a/mkdocs.yml b/mkdocs.yml
index 26f75bc..c2f4c53 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -25,8 +25,9 @@ nav:
     - user_guide/aruco_markers_pipeline/introduction.md
     - user_guide/aruco_markers_pipeline/aruco_markers_description.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
+    - user_guide/aruco_markers_pipeline/configuration_and_execution.md
+    - user_guide/aruco_markers_pipeline/pose_estimation.md
+    - user_guide/aruco_markers_pipeline/aoi_projection.md
     - Advanced Topics:
       - user_guide/aruco_markers_pipeline/advanced_topics/optic_parameters_calibration.md