Improving aruco markers gaze analysis pipeline documentation.

1 files changed, 82 insertions, 0 deletions

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).