Making ArUcoMarkersGroup as PipelineStepObject. Markers size don't need to be equal anymore.

1 files changed, 10 insertions, 5 deletions

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 ebbeec7..055d1de 100644
--- a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
+++ b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
@@ -87,7 +87,10 @@ Here are common OBJ file features needed to describe ArUco markers places:
 * Face (starting with *f* key) link vertices and normals indexes together.
 
 !!! warning
-	All markers must have the same size and belong to the same dictionary.
+	Markers have to belong to the same dictionary.
+
+!!! note
+    Markers can have different size.
 
 ### Edit JSON file description
 
@@ -96,19 +99,21 @@ JSON file format allows to describe markers places using translation and euler a
 ``` json
 {
     "dictionary": "DICT_APRILTAG_16h5",
-    "marker_size": 5,
     "places": {
         "0": {
             "translation": [17.5, 2.75, -0.5],
-            "rotation": [-18.5, 0, 0]
+            "rotation": [-18.5, 0, 0],
+            "size": 5
         },
         "1": {
             "translation": [46, 34, 18.333],
-            "rotation": [0, 70, 0]
+            "rotation": [0, 70, 0],
+            "size": 5
         },
         "2": {
             "translation": [41, 4, 3.333],
-            "rotation": [-60, 0, 0]
+            "rotation": [-60, 0, 0],
+            "size": 5
         }
     }
 }