Improving aruco marker pipeline documentation.

11 files changed, 277 insertions, 43 deletions

diff --git a/docs/user_guide/aruco_marker_pipeline/aoi_3d_description.md b/docs/user_guide/aruco_marker_pipeline/aoi_3d_description.md
index 23ea550..e8342c7 100644
--- a/docs/user_guide/aruco_marker_pipeline/aoi_3d_description.md
+++ b/docs/user_guide/aruco_marker_pipeline/aoi_3d_description.md
@@ -1,7 +1,7 @@
 Describe 3D AOI
 ===============
 
-Now [scene pose is estimated](aruco_markers_description.md) thanks to ArUco markers description, [areas of interest (AOI)](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AreaOfInterest) need to be described into the same 3D referential.
+Now [scene pose is estimated](aruco_marker_description.md) thanks to ArUco markers description, [areas of interest (AOI)](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AreaOfInterest) need to be described into the same 3D referential.
 
 In the example scene, the two screens, the control panel and the window are considered as areas of interest.
 
diff --git a/docs/user_guide/aruco_marker_pipeline/aoi_3d_frame.md b/docs/user_guide/aruco_marker_pipeline/aoi_3d_frame.md
index e1614d3..358c412 100644
--- a/docs/user_guide/aruco_marker_pipeline/aoi_3d_frame.md
+++ b/docs/user_guide/aruco_marker_pipeline/aoi_3d_frame.md
@@ -82,7 +82,7 @@ An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) instance can con
 
 ### Left_Screen & Right_Screen
 
-The names of 3D AOI **and** their related [ArFrames](../../argaze.md/#argaze.ArFeatures.ArFrame). Basically useful for visualization purpose.
+The names of 3D AOI **and** their related [ArFrames](../../argaze.md/#argaze.ArFeatures.ArFrame). Basically, it is useful for visualization purposes.
 
 !!! warning "AOI / Frame names policy"
 
diff --git a/docs/user_guide/aruco_marker_pipeline/aoi_3d_projection.md b/docs/user_guide/aruco_marker_pipeline/aoi_3d_projection.md
index e0f7f4c..ae31075 100644
--- a/docs/user_guide/aruco_marker_pipeline/aoi_3d_projection.md
+++ b/docs/user_guide/aruco_marker_pipeline/aoi_3d_projection.md
@@ -47,7 +47,7 @@ An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) instance can con
 
 ### MyLayer
 
-The name of an [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically useful for visualization purpose.
+The name of an [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically, it is useful for visualization purposes.
 
 ### *aoi_scene*
 
@@ -106,7 +106,7 @@ An [ArUcoCamera](../../argaze.md/#argaze.ArFeatures.ArFrame) instance can contai
 
 ### MyLayer
 
-The name of an [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically useful for visualization purpose.
+The name of an [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically, it is useful for visualization purposes.
 
 !!! warning "Layer name policy"
 
diff --git a/docs/user_guide/aruco_marker_pipeline/aruco_markers_description.md b/docs/user_guide/aruco_marker_pipeline/aruco_marker_description.md
index 6da600c..1d703d4 100644
--- a/docs/user_guide/aruco_marker_pipeline/aruco_markers_description.md
+++ b/docs/user_guide/aruco_marker_pipeline/aruco_marker_description.md
@@ -9,11 +9,11 @@ Here is an example scene where markers are surrounding a workspace with two scre
 
 ## Print ArUco markers from an ArUco dictionary
 
-ArUco markers always belongs to a set of markers called ArUco markers dictionary.
+ArUco markers always belong to a set of markers called the ArUco marker dictionary.
 
 ![ArUco dictionaries](../../img/aruco_dictionaries.png)
 
-Many ArUco dictionaries exist with properties concerning the format, the number of markers or the difference between each markers to avoid error in tracking.
+Many ArUco marker dictionaries exist with properties concerning the format, the number of markers, or the difference between each marker to avoid errors in tracking.
 
 Here is the documention [about ArUco markers dictionaries](https://docs.opencv.org/3.4/d9/d6a/group__aruco.html#gac84398a9ed9dd01306592dd616c2c975).
 
@@ -33,20 +33,20 @@ aruco_dictionary.save('./markers/', 3.5, 300)
 ```
 
 !!! note
-      There is **A4_DICT_APRILTAG_16h5_5cm_0-7.pdf** file located in *./src/argaze/ArUcoMarker/utils/* folder ready to be printed on A4 paper sheet.
+      There is an **A4_DICT_APRILTAG_16h5_5cm_0-7.pdf** file located in *./src/argaze/ArUcoMarker/utils/* folder ready to be printed on an A4 paper sheet.
 
-Let's print some of them before to go further.
+Let's print some of them before going further.
 
 !!! warning
 	Print markers with a blank zone around them to help in their detection.
 
 ## Describe ArUco markers place
 
-Once [ArUcoMarker](../../argaze.md/#argaze.ArUcoMarker.ArUcoMarker) pictures are placed into a scene it is possible to describe their 3D places into a file.
+Once [ArUcoMarker](../../argaze.md/#argaze.ArUcoMarker.ArUcoMarker) pictures are placed into a scene, it is possible to describe their 3D places into a file.
 
 ![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:
+Wherever the origin point is, all markers places need to be described on 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,
@@ -80,17 +80,17 @@ v 43.500000 5.178055 1.168253
 f 9 10 12 11
 ```
 
-Here are common OBJ file features needed to describe ArUco markers places:  
+Here are some common OBJ file features needed to describe ArUco markers places:  
 
-* Object lines (starting with *o* key) indicate markers dictionary and id by following this format: **DICTIONARY**#**ID**\_Marker.
-* Vertice lines (starting with *v* key) indicate markers corners. The marker size will be automatically deducted from the geometry.
-* Face (starting with *f* key) link vertices and normals indexes together.
+* Object line (starting with *o* key) indicate marker dictionary and id by following this format: **DICTIONARY**#**ID**\_Marker.
+* Vertice line (starting with *v* key) indicate marker corners. The marker size will be automatically deducted from the geometry.
+* Face line (starting with *f* key) link vertice and normal indexes together.
 
 !!! warning
 	Markers have to belong to the same dictionary.
 
 !!! note
-    Markers can have different size.
+    Markers can have different sizes.
 
 ### Edit JSON file description
 
diff --git a/docs/user_guide/aruco_marker_pipeline/configuration_and_execution.md b/docs/user_guide/aruco_marker_pipeline/configuration_and_execution.md
index f2bddf8..cadaf61 100644
--- a/docs/user_guide/aruco_marker_pipeline/configuration_and_execution.md
+++ b/docs/user_guide/aruco_marker_pipeline/configuration_and_execution.md
@@ -1,9 +1,9 @@
 Load and execute pipeline
 =========================
 
-Once [ArUco markers are placed into a scene](aruco_markers_description.md), they can be detected thanks to [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) class.
+Once [ArUco markers are placed into a scene](aruco_marker_description.md), they can be detected thanks to [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) class.
 
-As [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) inherits from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame), the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) class also benefits from all the services described in [gaze analysis pipeline section](../gaze_analysis_pipeline/introduction.md).
+As [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) inherits from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame), the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) class also benefits from all the services described in the [gaze analysis pipeline section](../gaze_analysis_pipeline/introduction.md).
 
 ![ArUco camera frame](../../img/aruco_camera_frame.png)
 
@@ -68,30 +68,30 @@ Now, let's understand the meaning of each JSON entry.
 
 ### argaze.ArUcoMarker.ArUcoCamera.ArUcoCamera
 
-The loaded object class name.
+The class name of the object being loaded.
 
 ### *name - inherited from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame)*
 
-The name of the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) frame. Basically useful for visualization purpose.
+The name of the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) frame. Basically, it is useful for visualization purposes.
 
 ### *size - inherited from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame)*
 
-The size of the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) frame  in pixels. Be aware that gaze positions have to be in the same range of value to be projected in.
+The size of the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) frame  in pixels. Be aware that gaze positions have to be in the same range of value to be projected.
 
 ### *aruco_detector*
 
-The first [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) pipeline step is to detect ArUco markers inside input image.
+The first [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) pipeline step is to detect ArUco markers inside the input image.
 
 ![ArUco markers detection](../../img/aruco_camera_markers_detection.png)
 
-The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarker.ArUcoDetector) is in charge to detect all markers from a specific dictionary.
+The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarker.ArUcoDetector) is in charge of detecting all markers from a specific dictionary.
 
 !!! 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.
+The first [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame) pipeline step is dedicated to identify fixations or saccades from consecutive timestamped gaze positions.
 
 ![Gaze movement identification](../../img/aruco_camera_gaze_movement_identification.png)
 
@@ -103,7 +103,7 @@ The usual [ArFrame visualization parameters](../gaze_analysis_pipeline/visualiza
 
 ### Detect ArUco markers, estimate scene pose and project 3D 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 3D AOI projection.
+Pass each camera image to the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method to execute the whole pipeline dedicated to ArUco marker detection, scene pose estimation and 3D AOI projection.
 
 !!! warning "Mandatory"
 
@@ -127,11 +127,11 @@ Pass each camera image to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures
 	... aruco_camera.image()
 ```
 
-### Analyse timestamped gaze positions into camera frame
+### Analyse time-stamped gaze positions into the camera frame
 
-As mentioned above, [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) inherits from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame) and so, benefits from all the services described in [gaze analysis pipeline section](../gaze_analysis_pipeline/introduction.md).
+As mentioned above, [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) inherits from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame) and, so benefits from all the services described in the [gaze analysis pipeline section](../gaze_analysis_pipeline/introduction.md).
 
-Particularly, timestamped gaze positions can be passed one by one to [ArUcoCamera.look](../../argaze.md/#argaze.ArFeatures.ArFrame.look) method to execute the whole pipeline dedicated to gaze analysis.
+Particularly, timestamped gaze positions can be passed one by one to the [ArUcoCamera.look](../../argaze.md/#argaze.ArFeatures.ArFrame.look) method to execute the whole pipeline dedicated to gaze analysis.
 
 !!! warning "Mandatory"
 
@@ -154,6 +154,6 @@ Particularly, timestamped gaze positions can be passed one by one to [ArUcoCamer
 
 !!! 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 only processes gaze movement identification without any AOI support 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 marker and the [ArUcoCamera.look](../../argaze.md/#argaze.ArFeatures.ArCamera.look) method only processes 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 estimate scene pose](pose_estimation.md), [how to describe 3D scene's AOI](aoi_3d_description.md) and [how to project them into camera frame](aoi_3d_projection.md).
\ No newline at end of file
+	Read the next chapters to learn [how to estimate scene pose](pose_estimation.md), [how to describe a 3D scene's AOI](aoi_3d_description.md) and [how to project them into the camera frame](aoi_3d_projection.md).
\ No newline at end of file
diff --git a/docs/user_guide/aruco_marker_pipeline/introduction.md b/docs/user_guide/aruco_marker_pipeline/introduction.md
index 273de16..ef2e4da 100644
--- a/docs/user_guide/aruco_marker_pipeline/introduction.md
+++ b/docs/user_guide/aruco_marker_pipeline/introduction.md
@@ -1,7 +1,7 @@
 Overview
 ========
 
-This section explains how to build augmented reality pipelines based on [ArUco Markers technology](https://www.sciencedirect.com/science/article/abs/pii/S0031320314000235) for various use cases.  
+This section explains how to build augmented reality pipelines based on [ArUco Marker technology](https://www.sciencedirect.com/science/article/abs/pii/S0031320314000235) for various use cases.  
 
 The OpenCV library provides a module to detect fiducial markers in a picture and estimate their poses.
 
@@ -15,11 +15,11 @@ First, let's look at the schema below. It gives an overview of the main notions
 
 To build your own ArUco marker pipeline, you need to know:
 
-* [How to setup ArUco markers into a scene](aruco_markers_description.md),
+* [How to setup ArUco markers into a scene](aruco_marker_description.md),
 * [How to load and execute ArUco marker pipeline](configuration_and_execution.md),
-* [How to estimate scene pose](pose_estimation.md),
-* [How to describe a scene's AOI](aoi_3d_description.md),
-* [How to project 3D AOI into camera frame](aoi_3d_projection.md),
+* [How to estimate the scene pose](pose_estimation.md),
+* [How to describe the scene's AOI](aoi_3d_description.md),
+* [How to project 3D AOI into the camera frame](aoi_3d_projection.md),
 * [How to define a 3D AOI as a frame](aoi_3d_frame.md).
 
 More advanced features are also explained like:
diff --git a/docs/user_guide/aruco_marker_pipeline/pose_estimation.md b/docs/user_guide/aruco_marker_pipeline/pose_estimation.md
index 5ebe783..02a4979 100644
--- a/docs/user_guide/aruco_marker_pipeline/pose_estimation.md
+++ b/docs/user_guide/aruco_marker_pipeline/pose_estimation.md
@@ -1,13 +1,13 @@
 Estimate scene pose
 ===================
 
-Once [ArUco markers are placed into a scene](aruco_markers_description.md) and [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) is [configured](configuration_and_execution.md), scene pose can be estimated.
+Once [ArUco markers are placed into a scene](aruco_marker_description.md) and the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) is [configured](configuration_and_execution.md), the scene pose can be estimated.
 
 ![Scene pose estimation](../../img/aruco_camera_pose_estimation.png)
 
 ## Add ArUcoScene to ArUcoCamera JSON configuration file
 
-An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.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.ArUcoMarker.ArUcoCamera).
+An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) class defines a space with [ArUco markers inside](aruco_marker_description.md), helping to estimate scene pose when they are watched by [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera).
 
 Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) configuration file with a sample where one scene is added and displayed:
 
@@ -67,15 +67,15 @@ Now, let's understand the meaning of each JSON entry.
 
 ### *scenes*
 
-An [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) instance can contains multiples [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) stored by name.
+An [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) instance can contain multiples [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) stored by name.
 
 ### MyScene
 
-The name of an [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene). Basically useful for visualization purpose.
+The name of an [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene). Basically, it is useful for visualization purposes.
 
 ### *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.ArUcoMarker.ArUcoScene) in [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) frame.
+The 3D placement of ArUco markers into the scene, as defined in the [ArUco marker description chapter](aruco_marker_description.md). Thanks to this description, it is possible to estimate the pose of [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) in an [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) frame.
 
 !!! note
 
@@ -83,4 +83,4 @@ The 3D places of ArUco markers into the scene as defined at [ArUco markers descr
 
 ### *draw_scenes*
 
-The drawing parameters of each loaded [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) in [ArUcoCamera.image](../../argaze.md/#argaze.ArFeatures.ArFrame.image).
+The drawing parameters of each loaded [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) in an [ArUcoCamera.image](../../argaze.md/#argaze.ArFeatures.ArFrame.image).
diff --git a/docs/user_guide/gaze_analysis_pipeline/aoi_analysis.md b/docs/user_guide/gaze_analysis_pipeline/aoi_analysis.md
index fa7a71e..be27c69 100644
--- a/docs/user_guide/gaze_analysis_pipeline/aoi_analysis.md
+++ b/docs/user_guide/gaze_analysis_pipeline/aoi_analysis.md
@@ -71,7 +71,7 @@ An [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame) instance can contains m
 
 ### MyLayer
 
-The name of an [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically useful for visualization purpose.
+The name of an [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically, it is useful for visualization purposes.
 
 ### *aoi_scene*
 
diff --git a/docs/user_guide/gaze_analysis_pipeline/configuration_and_execution.md b/docs/user_guide/gaze_analysis_pipeline/configuration_and_execution.md
index 7eba8a7..57a9d71 100644
--- a/docs/user_guide/gaze_analysis_pipeline/configuration_and_execution.md
+++ b/docs/user_guide/gaze_analysis_pipeline/configuration_and_execution.md
@@ -51,7 +51,7 @@ Now, let's understand the meaning of each JSON entry.
 
 ### argaze.ArFeatures.ArFrame
 
-The loaded object class name.
+The class name of the object being loaded.
 
 ### *name*
 
diff --git a/mkdocs.yml b/mkdocs.yml
index 35bff5a..5b25529 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -26,7 +26,7 @@ nav:
       - user_guide/gaze_analysis_pipeline/advanced_topics/gaze_position_calibration.md
   - ArUco marker pipeline:
     - user_guide/aruco_marker_pipeline/introduction.md
-    - user_guide/aruco_marker_pipeline/aruco_markers_description.md
+    - user_guide/aruco_marker_pipeline/aruco_marker_description.md
     - user_guide/aruco_marker_pipeline/configuration_and_execution.md
     - user_guide/aruco_marker_pipeline/pose_estimation.md
     - user_guide/aruco_marker_pipeline/aoi_3d_description.md
diff --git a/src/argaze/utils/aruco_marker_group_export.py b/src/argaze/utils/aruco_marker_group_export.py
new file mode 100644
index 0000000..961d12b
--- /dev/null
+++ b/src/argaze/utils/aruco_marker_group_export.py
@@ -0,0 +1,234 @@
+#!/usr/bin/env python
+
+""" 
+
+This program is free software: you can redistribute it and/or modify it under
+the terms of the GNU General Public License as published by the Free Software
+Foundation, either version 3 of the License, or (at your option) any later
+version.
+This program is distributed in the hope that it will be useful, but WITHOUT
+ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+You should have received a copy of the GNU General Public License along with
+this program. If not, see <https://www.gnu.org/licenses/>.
+"""
+
+__author__ = "Théo de la Hogue"
+__credits__ = []
+__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
+__license__ = "GPLv3"
+
+import argparse
+import contextlib
+
+import cv2
+
+from argaze import DataFeatures
+from argaze.ArUcoMarker import ArUcoDetector, ArUcoOpticCalibrator, ArUcoMarkerGroup
+from argaze.utils import UtilsFeatures
+
+
+def main():
+	"""
+	Detect DICTIONARY and SIZE ArUco markers inside a MOVIE frame then, export detected ArUco markers group as .obj file into an OUTPUT folder.
+	"""
+
+	# Manage arguments
+	parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
+	parser.add_argument('movie', metavar='MOVIE', type=str, default=None, help='movie path')
+	parser.add_argument('dictionary', metavar='DICTIONARY', type=str, default=None,
+						help='expected ArUco markers dictionary')
+	parser.add_argument('size', metavar='SIZE', type=float, default=None, help='expected ArUco markers size (in cm)')
+
+	parser.add_argument('-p', '--parameters', metavar='PARAMETERS', type=str, default=None,
+						help='ArUco detector parameters file')
+	parser.add_argument('-op', '--optic_parameters', metavar='OPTIC_PARAMETERS', type=str, default=None,
+						help='ArUco detector optic parameters file')
+
+	parser.add_argument('-s', '--start', metavar='START', type=float, default=0., help='start time in second')
+	parser.add_argument('-o', '--output', metavar='OUTPUT', type=str, default='.', help='export folder path')
+	parser.add_argument('-v', '--verbose', action='store_true', default=False,
+						help='enable verbose mode to print information in console')
+
+	args = parser.parse_args()
+
+	# Load movie
+	video_capture = cv2.VideoCapture(args.movie)
+
+	video_fps = video_capture.get(cv2.CAP_PROP_FPS)
+	image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+	image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+
+	# Edit ArUco detector configuration
+	configuration = {
+		"dictionary": args.dictionary
+	}
+
+	if args.parameters:
+		configuration["parameters"] = args.parameters
+
+	if args.optic_parameters:
+		configuration["optic_parameters"] = args.optic_parameters
+
+	# Load ArUco detector configuration
+	aruco_detector = DataFeatures.from_dict(ArUcoDetector.ArUcoDetector, configuration)
+
+	if args.verbose:
+		print(aruco_detector)
+
+	# Create empty ArUco scene
+	aruco_markers_group = None
+
+	# Edit draw parameters
+	draw_parameters = {
+		"color": [255, 255, 255],
+		"draw_axes": {
+			"thickness": 4
+		}
+	}
+
+	# Create a window
+	cv2.namedWindow("Export detected ArUco markers", cv2.WINDOW_AUTOSIZE)
+
+	# Init image selection
+	current_image_index = -1
+	_, current_image = video_capture.read()
+	next_image_index = int(args.start * video_fps)
+	refresh = False
+
+	# Waiting for 'ctrl+C' interruption
+	with contextlib.suppress(KeyboardInterrupt):
+
+		while True:
+
+			# Select a new image and detect markers once
+			if next_image_index != current_image_index or refresh:
+
+				video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index)
+
+				success, video_image = video_capture.read()
+
+				video_height, video_width, _ = video_image.shape
+
+				# Create default optic parameters adapted to frame size
+				if aruco_detector.optic_parameters is None:
+					# Note: The choice of 1000 for default focal length should be discussed...
+					aruco_detector.optic_parameters = ArUcoOpticCalibrator.OpticParameters(rms=-1, dimensions=(
+						video_width, video_height), K=ArUcoOpticCalibrator.K0(focal_length=(1000., 1000.),
+																			  width=video_width, height=video_height))
+
+				if success:
+
+					# Refresh once
+					refresh = False
+
+					current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
+					current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
+
+					try:
+
+						# Detect and project AR features
+						aruco_detector.detect_markers(video_image)
+
+						# Estimate all detected markers pose
+						aruco_detector.estimate_markers_pose(args.size)
+
+						# Build aruco scene from detected markers
+						aruco_markers_group = ArUcoMarkerGroup.ArUcoMarkerGroup(aruco_detector.dictionary,
+																				  aruco_detector.detected_markers())
+
+						# Detection succeeded
+						exception = None
+
+					# Write errors
+					except Exception as e:
+
+						aruco_markers_group = None
+
+						exception = e
+
+					# Draw detected markers
+					aruco_detector.draw_detected_markers(video_image, draw_parameters)
+
+					# Write detected markers
+					cv2.putText(video_image, f'Detecting markers {list(aruco_detector.detected_markers().keys())}',
+								(20, video_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+
+					# Write timing
+					cv2.putText(video_image, f'Frame at {int(current_image_time)}ms', (20, 40),
+								cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+
+					# Write exception
+					if exception is not None:
+						cv2.putText(video_image, f'error: {exception}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1,
+									(0, 255, 255), 1, cv2.LINE_AA)
+
+					# Write documentation
+					cv2.putText(video_image, f'<- previous image', (video_width - 500, video_height - 160),
+								cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+					cv2.putText(video_image, f'-> next image', (video_width - 500, video_height - 120),
+								cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+					cv2.putText(video_image, f'r: reload config', (video_width - 500, video_height - 80),
+								cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+					cv2.putText(video_image, f'Ctrl+s: export ArUco markers', (video_width - 500, video_height - 40),
+								cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+
+					# Copy image
+					current_image = video_image.copy()
+
+			# Keep last image
+			else:
+
+				video_image = current_image.copy()
+
+			key_pressed = cv2.waitKey(10)
+
+			#if key_pressed != -1:
+			#	print(key_pressed)
+
+			# Select previous image with left arrow
+			if key_pressed == 2:
+				next_image_index -= 1
+
+			# Select next image with right arrow
+			if key_pressed == 3:
+				next_image_index += 1
+
+			# Clip image index
+			if next_image_index < 0:
+				next_image_index = 0
+
+			# r: reload configuration
+			if key_pressed == 114:
+				aruco_detector = DataFeatures.from_dict(ArUcoDetector.ArUcoDetector, configuration)
+				refresh = True
+				print('Configuration reloaded')
+
+			# Save selected marker edition using 'Ctrl + s'
+			if key_pressed == 19:
+
+				if aruco_markers_group:
+
+					aruco_markers_group.to_obj(f'{args.output}/{int(current_image_time)}-aruco_markers_group.obj')
+					print(f'ArUco markers saved into {args.output}')
+
+				else:
+
+					print(f'No ArUco markers to export')
+
+			# Close window using 'Esc' key
+			if key_pressed == 27:
+				break
+
+			# Display video
+			cv2.imshow(aruco_detector.name, video_image)
+
+	# Close movie capture
+	video_capture.release()
+
+	# Stop image display
+	cv2.destroyAllWindows()
+
+
+if __name__ == '__main__':
+	main()