orthographic corrections

10 files changed, 0 insertions, 1114 deletions

diff --git a/docs/user_guide/aruco_markers_pipeline/advanced_topics/aruco_detector_configuration.md b/docs/user_guide/aruco_markers_pipeline/advanced_topics/aruco_detector_configuration.md
deleted file mode 100644
index 410e2d7..0000000
--- a/docs/user_guide/aruco_markers_pipeline/advanced_topics/aruco_detector_configuration.md
+++ /dev/null
@@ -1,37 +0,0 @@
-Improve ArUco markers detection
-===============================
-
-As explain in [OpenCV ArUco documentation](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html), ArUco markers detection is highly configurable.
-
-## Load ArUcoDetector parameters
-
-[ArUcoCamera.detector.parameters](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector.Parameters) can be loaded thanks to a dedicated JSON entry.
-
-Here is an extract from the JSON [ArUcoCamera](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration file with ArUco detector parameters:
-
-```json
-{
-    "name": "My FullHD camera",
-    "size": [1920, 1080],
-    "aruco_detector": {
-        "dictionary": "DICT_APRILTAG_16h5",
-        "parameters": {
-		    "adaptiveThreshConstant": 10,
-            "useAruco3Detection": 1
-		}
-    },
-    ...
-```
-
-## Print ArUcoDetector parameters
-
-```python
-# Assuming ArUcoCamera is loaded
-...
-
-# Print all ArUcoDetector parameters
-print(aruco_camera.aruco_detector.parameters)
-
-# Print only modified ArUcoDetector parameters
-print(f'{aruco_camera.aruco_detector.parameters:modified}')
-```
diff --git a/docs/user_guide/aruco_markers_pipeline/advanced_topics/optic_parameters_calibration.md b/docs/user_guide/aruco_markers_pipeline/advanced_topics/optic_parameters_calibration.md
deleted file mode 100644
index c5cecac..0000000
--- a/docs/user_guide/aruco_markers_pipeline/advanced_topics/optic_parameters_calibration.md
+++ /dev/null
@@ -1,190 +0,0 @@
-Calibrate optic parameters
-==========================
-
-A camera device have to be calibrated to compensate its optical distorsion.
-
-![Optic parameters calibration](../../../img/optic_calibration.png)
-
-## Print calibration board
-
-The first step to calibrate a camera is to create an [ArUcoBoard](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoBoard) like in the code below:
-
-``` python
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard
-
-# Create ArUco dictionary
-aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
-
-# Create an ArUco board of 7 columns and 5 rows with 5 cm squares with 3cm ArUco markers inside
-aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3, aruco_dictionary)
-
-# Export ArUco board with 300 dpi resolution
-aruco_board.save('./calibration_board.png', 300)
-```
-
-!!! note
-      There is **A3_DICT_APRILTAG_16h5_3cm_35cmx25cm.pdf** file located in *./src/argaze/ArUcoMarkers/utils/* folder ready to be printed on A3 paper sheet.
-
-Let's print the calibration board before to go further.
-
-## Capture board pictures 
-
-Then, the calibration process needs to make many different captures of an [ArUcoBoard](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoBoard) through the camera and then, pass them to an [ArUcoDetector](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) instance to detect board corners and store them as calibration data into an [ArUcoOpticCalibrator](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) for final calibration process.
-
-![Calibration step](../../../img/optic_calibration_step.png)
-
-The sample of code below illustrates how to:
-
-* load all required ArGaze objects,
-* detect board corners into a Full HD camera video stream, 
-* store detected corners as calibration data then, 
-* once enough captures are made, process them to find optic parameters and, 
-* finally, save optic parameters into a JSON file.
-
-``` python
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoBoard, ArUcoDetector
-
-# Create ArUco dictionary
-aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
-
-# Create ArUco optic calibrator
-aruco_optic_calibrator = ArUcoOpticCalibrator.ArUcoOpticCalibrator()
-
-# Create ArUco board of 7 columns and 5 rows with 5 cm squares with 3cm aruco markers inside
-# Note: This board is the one expected during further board tracking
-expected_aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3, aruco_dictionary)
-
-# Create ArUco detector
-aruco_detector = ArUcoDetector.ArUcoDetector(dictionary=aruco_dictionary)
-
-# Assuming that live Full HD (1920x1080) video stream is enabled
-...
-
-# Assuming there is a way to escape the while loop
-...
-
-    while video_stream.is_alive():
-
-        # Capture image from video stream
-        image = video_stream.read()
-
-        # Detect all board corners in image
-        aruco_detector.detect_board(image, expected_aruco_board, expected_aruco_board.markers_number)
-
-        # If all board corners are detected
-        if aruco_detector.board_corners_number() == expected_aruco_board.corners_number:
-
-            # Draw board corners to show that board tracking succeeded
-            aruco_detector.draw_board(image)
-
-            # Append tracked board data for further calibration processing 
-            aruco_optic_calibrator.store_calibration_data(aruco_detector.board_corners(), aruco_detector.board_corners_identifier())
-
-# Start optic calibration processing for Full HD image resolution
-print('Calibrating optic...')
-optic_parameters = aruco_optic_calibrator.calibrate(expected_aruco_board, dimensions=(1920, 1080))
-
-if optic_parameters:
-
-    # Export optic parameters
-    optic_parameters.to_json('./optic_parameters.json')
-
-    print('Calibration succeeded: optic_parameters.json file exported.')
-
-else:
-
-    print('Calibration failed.')
-```
-
-Below, an optic_parameters JSON file example:
-
-```json
-{
-    "rms": 0.6688921504088245,
-    "dimensions": [
-        1920,
-        1080
-    ],
-    "K": [
-        [
-            1135.6524381415752,
-            0.0,
-            956.0685325355497
-        ],
-        [
-            0.0,
-            1135.9272506869524,
-            560.059099810324
-        ],
-        [
-            0.0,
-            0.0,
-            1.0
-        ]
-    ],
-    "D": [
-        0.01655492265003404,
-        0.1985524264972037,
-        0.002129965902489484,
-        -0.0019528582922179365,
-        -0.5792910353639452
-    ]
-}
-```
-
-## Load and display optic parameters
-
-[ArUcoCamera.detector.optic_parameters](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoOpticCalibrator.OpticParameters) can be enabled thanks to a dedicated JSON entry.
-
-Here is an extract from the JSON [ArUcoCamera](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration file where optic parameters are loaded and displayed:
-
-```json
-{
-    "name": "My FullHD Camera",
-    "size": [1920, 1080],
-    "aruco_detector": {
-        "dictionary": "DICT_APRILTAG_16h5",
-        "optic_parameters": {
-            "rms": 0.6688921504088245,
-            "dimensions": [
-                1920,
-                1080
-            ],
-            "K": [
-                [
-                    1135.6524381415752,
-                    0.0,
-                    956.0685325355497
-                ],
-                [
-                    0.0,
-                    1135.9272506869524,
-                    560.059099810324
-                ],
-                [
-                    0.0,
-                    0.0,
-                    1.0
-                ]
-            ],
-            "D": [
-                0.01655492265003404,
-                0.1985524264972037,
-                0.002129965902489484,
-                -0.0019528582922179365,
-                -0.5792910353639452
-            ]
-        }
-    },
-    ...
-    "image_parameters": {
-        ...
-        "draw_optic_parameters_grid": {
-            "width": 192,
-            "height": 108,
-            "z": 100,
-            "point_size": 1,
-            "point_color": [0, 0, 255]
-        }
-    }
-```
\ No newline at end of file
diff --git a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
deleted file mode 100644
index 04d6a2f..0000000
--- a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
+++ /dev/null
@@ -1,132 +0,0 @@
-Script the pipeline
-===================
-
-All aruco markers pipeline objects are accessible from Python script.
-This could be particularly useful for realtime AR interaction applications.
-
-## Load ArUcoCamera configuration from dictionary
-
-First of all, [ArUcoCamera](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration can be loaded from a python dictionary.
-
-```python
-from argaze.ArUcoMarkers import ArUcoCamera
-
-# Edit a dict with ArUcoCamera configuration
-configuration = {
-	"name": "My FullHD camera",
-    "size": (1920, 1080),
-    ...
-    "aruco_detector": {
-        ...
-    },
-    "scenes": {
-        "MyScene" : {
-             "aruco_markers_group": {
-                ...
-            },
-            "layers": {
-                "MyLayer": {
-                    "aoi_scene": {
-                    ...
-                    }
-                },
-                ...
-            }
-        },
-        ...
-    }
-    "layers": {
-        "MyLayer": {
-            ...
-        },
-        ...
-    },
-    "image_parameters": {
-        ...
-    }
-}
-
-# Load ArUcoCamera
-aruco_camera = ArUcoCamera.ArUcoCamera.from_dict(configuration)
-
-# Do something with ArUcoCamera
-...
-```
-
-## Access to ArUcoCamera and ArScenes attributes
-
-Then, once the configuration is loaded, it is possible to access to its attributes: [read ArUcoCamera code reference](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) to get a complete list of what is available.
-
-Thus, the [ArUcoCamera.scenes](../../../argaze.md/#argaze.ArFeatures.ArCamera) attribute allows to access each loaded aruco scene and so, access to their attributes: [read ArUcoScene code reference](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) to get a complete list of what is available.
-
-```python
-from argaze import ArFeatures
-
-# Assuming the ArUcoCamera is loaded
-...
-
-# Iterate over each ArUcoCamera scene
-for name, aruco_scene in aruco_camera.scenes.items():
-    ...
-```
-
-## Pipeline execution outputs
-
-[ArUcoCamera.watch](../../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method returns data about pipeline execution.
-
-```python
-# Assuming that timestamped images are available
-...:
-
-    try:
-
-        # Watch image with ArUco camera
-        aruco_camera.watch(image, timestamp=timestamp)
-
-    # Do something with pipeline exception
-    except Exception as e:
-
-        ...
-
-    # Do something with detected_markers
-    ... aruco_camera.aruco_detector.detected_markers()
-    
-```
-
-Let's understand the meaning of each returned data.
-
-### *aruco_camera.aruco_detector.detected_markers()*
-
-A dictionary containing all detected markers provided by [ArUcoDetector](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) class.
-
-## Setup ArUcoCamera image parameters
-
-Specific [ArUcoCamera.image](../../../argaze.md/#argaze.ArFeatures.ArFrame.image) method parameters can be configured thanks to a python dictionary.
-
-```python
-# Assuming ArUcoCamera is loaded
-...
-
-# Edit a dict with ArUcoCamera image parameters
-image_parameters = {
-    "draw_detected_markers": {
-        ...
-    },
-    "draw_scenes": {
-        ...   
-    },
-    "draw_optic_parameters_grid": {
-        ...
-    },
-    ...
-}
-
-# Pass image parameters to ArUcoCamera
-aruco_camera_image = aruco_camera.image(**image_parameters)
-
-# Do something with ArUcoCamera image
-...
-```
-
-!!! note
-    [ArUcoCamera](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) inherits from [ArFrame](../../../argaze.md/#argaze.ArFeatures.ArFrame) and so, benefits from all image parameters described in [gaze analysis pipeline visualisation section](../../gaze_analysis_pipeline/visualisation.md).
\ No newline at end of file
diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md b/docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md
deleted file mode 100644
index 23ea550..0000000
--- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md
+++ /dev/null
@@ -1,68 +0,0 @@
-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.
-
-In the example scene, the two screens, the control panel and the window are considered as areas of interest.
-
-![3D AOI description](../../img/aoi_3d_description.png)
-
-All AOI 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 AOI spatial values must be given in **centimeters**.
-
-### Edit OBJ file description
-
-OBJ file format could be exported from most 3D editors.
-
-``` obj
-o Left_Screen
-v 0.000000 -0.000000 -0.000000
-v 15.000000 -0.000000 -0.000000
-v 0.000000 18.963333 -6.355470
-v 15.000000 18.963333 -6.355470
-f 1 2 4 3
-o Right_Screen
-v 20.000000 0.000000 -0.000000
-v 35.000000 0.000000 -0.000000
-v 20.000000 18.963337 -6.355472
-v 35.000000 18.963337 -6.355472
-f 5 6 8 7
-o Control_Panel
-v 49.500000 30.000000 18.333333
-v 55.500000 30.000000 18.333333
-v 49.500000 38.000000 18.333333
-v 55.500000 38.000000 18.333333
-f 9 10 12 11
-o Window
-v -57.800000 5.500000 -33.500000
-v 46.000000 15.500000 -35.000000
-v 1.500000 53.000000 -1.000000
-v 50.200000 61.000000 6.000000
-v -35.850000 35.000000 -15.000000
-f 13 14 16 15 17
-```
-
-Here are common OBJ file features needed to describe AOI:  
-
-* 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 AOI vertices.
-
-``` json
-{
-    "Left_Screen": [[0, 0, 0], [15, 0, 0], [0, 18.963333, -6.355470], [15, 18.963333, -6.355470]],
-    "Right_Screen": [[20, 0, 0], [35, 0, 0], [20, 18.963337, -6.355472], [35, 18.963337, -6.355472]],
-    "Control_Panel": [[49.5, 30, 18.333333], [55.5, 30, 18.333333], [49.5, 38, 18.333333], [55.5, 38, 18.333333]],
-    "Window": [[-57.8, 5.5, -33.5], [46, 15.5, -35], [1.5, 53, -1], [50.2, 61, 6], [-35.85, 35, -15]]
-}
-```
diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md b/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
deleted file mode 100644
index cf4a07e..0000000
--- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
+++ /dev/null
@@ -1,133 +0,0 @@
-Define a 3D AOI as a frame
-==========================
-
-When an 3D AOI of the scene contains others coplanar 3D AOI, like a screen with GUI elements displayed on, it is better to described them as 2D AOI inside 2D coordinates system related to the containing 3D AOI.
-
-![3D AOI frame](../../img/aruco_camera_aoi_frame.png)
-
-## Add ArFrame to ArUcoScene
-
-The [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame) class defines a rectangular area where timestamped gaze positions are projected in and inside which they need to be analyzed.
-
-Here is the previous extract where "Left_Screen" and "Right_Screen" AOI are defined as a frame into [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) configuration:
-
-```json
-{
-    "name": "My FullHD camera",
-    "size": [1920, 1080],
-    ...
-    "scenes": {
-        "MyScene" : {
-            "aruco_markers_group": {
-                ...
-            },
-            "layers": {
-                "MyLayer": {
-                    "aoi_scene": {
-                        "Left_Screen": [[0, 0, 0], [15, 0, 0], [0, 18.963333, -6.355470], [15, 18.963333, -6.355470]],
-                        "Right_Screen": [[20, 0, 0], [35, 0, 0], [20, 18.963337 ,-6.355472], [35, 18.963337, -6.355472]],
-                        "Control_Panel": [[49.5, 30, 18.333333], [55.5, 30, 18.333333], [49.5, 38, 18.333333], [55.5, 38, 18.333333]],
-                        "Window": [[-57.8, 5.5, -33.5], [46, 15.5, -35], [1.5, 53, -1], [50.2, 61, 6], [-35.85, 35, -15]]
-                    }
-                }
-            },
-            "frames": {
-            	"Left_Screen": {
-            		"size": [768, 1024],
-            		"layers": {
-            			"MyLayer": {
-            				"aoi_scene": {
-                                "LeftPanel": {
-                                    "Rectangle": {
-                                        "x": 0,
-                                        "y": 0,
-                                        "width": 768,
-                                        "height": 180
-                                    }
-                                },
-                                "CircularWidget": {
-                                    "Circle": {
-                                        "cx": 384,
-                                        "cy": 600,
-                                        "radius": 180
-                                    }
-                                }
-                            }
-            			}
-            		}
-            	},
-                "Right_Screen": {
-                    "size": [768, 1024],
-                    "layers": {
-                        "MyLayer": {
-                            "aoi_scene": {
-                                "GeoSector": [[724, 421], [537, 658], [577, 812], [230, 784], [70, 700], [44, 533], [190, 254], [537, 212]]
-                            }
-                        }
-                    }
-                }
-            }
-        }
-    }
-    ...
-}
-```
-Now, let's understand the meaning of each JSON entry.
-
-### *frames*
-
-An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) instance can contains multiples [ArFrames](../../argaze.md/#argaze.ArFeatures.ArFrame) stored by name.
-
-### Left_Screen & Right_Screen
-
-The names of 3D AOI **and** their related [ArFrames](../../argaze.md/#argaze.ArFeatures.ArFrame). Basically useful for visualisation purpose.
-
-!!! warning "AOI / Frame names policy"
-
-    An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) layer 3D AOI is defined as an [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) frame, **provided they have the same name**.
-
-!!! warning "Layer name policy"
-
-    An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) frame layer is projected into [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) layer, **provided they have the same name**.
-
-!!! note
-
-    [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) frame layers are projected into their dedicated [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) layers when the JSON configuration file is loaded.
-
-## Pipeline execution
-
-### Map ArUcoCamera image into ArUcoScenes frames
-
-After camera image is passed to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method, it is possible to apply a perpective transformation in order to project watched image into each [ArUcoScenes](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) [frames background](../../argaze.md/#argaze.ArFeatures.ArFrame) image.
-
-```python
-# Assuming that Full HD (1920x1080) timestamped images are available
-...:
-
-    # Detect ArUco markers, estimate scene pose then, project 3D AOI into camera frame
-    aruco_camera.watch(image, timestamp=timestamp)
-
-    # Map watched image into ArUcoScenes frames background
-    aruco_camera.map(timestamp=timestamp)
-```
-
-### Analyse timestamped gaze positions into ArUcoScenes frames
-
-[ArUcoScenes](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) frames benefits from all the services described in [gaze analysis pipeline section](../gaze_analysis_pipeline/introduction.md).
-
-!!! note
-
-    Timestamped gaze positions passed to [ArUcoCamera.look](../../argaze.md/#argaze.ArFeatures.ArFrame.look) method are projected into [ArUcoScenes](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) frames if applicable.
-
-### Display each ArUcoScenes frames
-
-All [ArUcoScenes](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) frames image can be displayed as any [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame).
-
-```python
-    ...
-
-    # Display all ArUcoScenes frames
-    for frame in aruco_camera.scene_frames:
-
-        ... frame.image()
-```
\ No newline at end of file
diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_3d_projection.md b/docs/user_guide/aruco_markers_pipeline/aoi_3d_projection.md
deleted file mode 100644
index 64f5fc8..0000000
--- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_projection.md
+++ /dev/null
@@ -1,168 +0,0 @@
-Project 3D AOI into camera frame
-================================
-
-Once [ArUcoScene pose is estimated](pose_estimation.md) and [3D AOI are described](aoi_3d_description.md), AOI can be projected into [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) frame.
-
-![3D AOI projection](../../img/aruco_camera_aoi_projection.png)
-
-## Add ArLayer to ArUcoScene to load 3D AOI
-
-The [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer) class allows to load 3D AOI description. 
-
-Here is the previous extract where one layer is added to [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) configuration:
-
-```json
-{
-    "name": "My FullHD camera",
-    "size": [1920, 1080],
-    ...
-    "scenes": {
-        "MyScene" : {
-            "aruco_markers_group": {
-                ...
-            },
-            "layers": {
-                "MyLayer": {
-                    "aoi_scene": {
-                        "Left_Screen": [[0, 0, 0], [15, 0, 0], [0, 18.963333, -6.355470], [15, 18.963333, -6.355470]],
-                        "Right_Screen": [[20, 0, 0], [35, 0, 0], [20, 18.963337, -6.355472], [35, 18.963337, -6.355472]],
-                        "Control_Panel": [[49.5, 30, 18.333333], [55.5, 30, 18.333333], [49.5, 38, 18.333333], [55.5, 38, 18.333333]],
-                        "Window": [[-57.8, 5.5, -33.5], [46, 15.5, -35], [1.5, 53, -1], [50.2, 61, 6], [-35.85, 35, -15]]
-                    }
-                }
-            } 
-        }
-    }
-    ...
-}
-```
-
-Now, let's understand the meaning of each JSON entry.
-
-### *layers*
-
-An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) instance can contains multiples [ArLayers](../../argaze.md/#argaze.ArFeatures.ArLayer) stored by name.
-
-### MyLayer
-
-The name of an [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically useful for visualisation purpose.
-
-### *aoi_scene*
-
-The set of 3D AOI into the layer as defined at [3D AOI description chapter](aoi_3d_description.md).
-
-## Add ArLayer to ArUcoCamera to project 3D AOI into
-
-Here is the previous extract where one layer is added to [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration and displayed:
-
-```json
-{
-    "name": "My FullHD camera",
-    "size": [1920, 1080],
-    ...
-    "scenes": {
-        "MyScene" : {
-            "aruco_markers_group": {
-                ...
-            },
-            "layers": {
-                 "MyLayer": {
-                    "aoi_scene": {
-                        ...
-                    }
-                } 
-            } 
-        }
-    },
-    "layers": {
-        "MyLayer": {}
-    }
-    ...
-    "image_parameters": {
-        ...
-        "draw_layers": {
-            "MyLayer": {
-                "draw_aoi_scene": {
-                    "draw_aoi": {
-                        "color": [255, 255, 255],
-                        "border_size": 1
-                    }
-                }
-            }
-        }
-    }
-}
-```
-
-Now, let's understand the meaning of each JSON entry.
-
-### *layers*
-
-An [ArUcoCamera](../../argaze.md/#argaze.ArFeatures.ArFrame) instance can contains multiples [ArLayers](../../argaze.md/#argaze.ArFeatures.ArLayer) stored by name.
-
-### MyLayer
-
-The name of an [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically useful for visualisation purpose.
-
-!!! 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**.
-
-!!! note
-
-    [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 AOI analysis features to ArUcoCamera layer
-
-When a scene layer is projected into a camera layer, it means that the 3D scene's AOI are transformed into 2D camera's AOI.
-
-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:
-
-```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
-                }
-            }
-        }
-    }
-    ...
-}
-```
-
-!!! warning
-
-    Adding scan path and scan path analyzers to an [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layer doesn't make sense as the space viewed thru camera frame doesn't necessary reflect the space the gaze is covering.
diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
deleted file mode 100644
index 055d1de..0000000
--- a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
+++ /dev/null
@@ -1,120 +0,0 @@
-Set up ArUco markers
-====================
-
-First of all, ArUco markers needs to be printed and placed into the scene. 
-
-Here is an example scene where markers are surrounding a workspace with two screens, a control panel and a window.
-
-![Scene](../../img/scene.png)
-
-## Print ArUco markers from an ArUco dictionary
-
-ArUco markers always belongs to a set of markers called ArUco markers 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.
-
-Here is the documention [about ArUco markers dictionaries](https://docs.opencv.org/3.4/d9/d6a/group__aruco.html#gac84398a9ed9dd01306592dd616c2c975).
-
-The creation of [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) pictures from a dictionary is illustrated in the code below:
- 
-``` python
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary
-
-# Create a dictionary of specific April tags
-aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
-
-# Export marker n°5 as 3.5 cm picture with 300 dpi resolution
-aruco_dictionary.create_marker(5, 3.5).save('./markers/', 300)
-
-# Export all dictionary markers as 3.5 cm pictures with 300 dpi resolution
-aruco_dictionary.save('./markers/', 3.5, 300)
-```
-
-!!! note
-      There is **A4_DICT_APRILTAG_16h5_5cm_0-7.pdf** file located in *./src/argaze/ArUcoMarkers/utils/* folder ready to be printed on A4 paper sheet.
-
-Let's print some of them before to go further.
-
-!!! warning
-	Print markers with a blank zone around them to help in their detection.
-
-## Describe ArUco markers place
-
-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 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:
-
-* +X is pointing to the right,
-* +Y is pointing to the top,
-* +Z is pointing to the backward.
-
-!!! warning
-	All ArUco markers spatial values must be given in **centimeters**.
-
-### Edit OBJ file description
-
-OBJ file format could be exported from most 3D editors.
-
-``` obj
-o DICT_APRILTAG_16h5#0_Marker
-v 15.000000 0.378741 0.330527
-v 20.000000 0.378741 0.330527
-v 15.000000 5.120359 -1.255996
-v 20.000000 5.120359 -1.255996
-f 1 2 4 3
-o DICT_APRILTAG_16h5#1_Marker
-v 43.500000 31.428055 18.333317
-v 48.500000 31.428055 18.333317
-v 43.500000 36.428055 18.333317
-v 48.500000 36.428055 18.333317
-f 5 6 8 7
-o DICT_APRILTAG_16h5#2_Marker
-v 38.500000 2.678055 5.498381
-v 43.500000 2.678055 5.498381
-v 38.500000 5.178055 1.168253
-v 43.500000 5.178055 1.168253
-f 9 10 12 11
-```
-
-Here are 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.
-
-!!! warning
-	Markers have to belong to the same dictionary.
-
-!!! note
-    Markers can have different size.
-
-### Edit JSON file description
-
-JSON file format allows to describe markers places using translation and euler angle rotation vectors.
-
-``` json
-{
-    "dictionary": "DICT_APRILTAG_16h5",
-    "places": {
-        "0": {
-            "translation": [17.5, 2.75, -0.5],
-            "rotation": [-18.5, 0, 0],
-            "size": 5
-        },
-        "1": {
-            "translation": [46, 34, 18.333],
-            "rotation": [0, 70, 0],
-            "size": 5
-        },
-        "2": {
-            "translation": [41, 4, 3.333],
-            "rotation": [-60, 0, 0],
-            "size": 5
-        }
-    }
-}
-```
diff --git a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
deleted file mode 100644
index dd36ed3..0000000
--- a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
+++ /dev/null
@@ -1,153 +0,0 @@
-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.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 also benefits from all the services described in [gaze analysis pipeline section](../gaze_analysis_pipeline/introduction.md).
-
-![ArUco camera frame](../../img/aruco_camera_frame.png)
-
-## Load JSON configuration file
-
-An [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) pipeline can be loaded from a JSON configuration file thanks to [argaze.load](../../argaze.md/#argaze.load) package method. 
-
-Here is a simple JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration file example:
-
-```json
-{
-	"name": "My FullHD camera",
-	"size": [1920, 1080],
-	"aruco_detector": {
-        "dictionary": "DICT_APRILTAG_16h5"
-    },
-    "gaze_movement_identifier": {
-        "DispersionThresholdIdentification": {
-            "deviation_max_threshold": 25,
-            "duration_min_threshold": 150
-        }
-    },
-    "image_parameters": {
-        "background_weight": 1,
-        "draw_detected_markers": {
-            "color": [0, 255, 0],
-            "draw_axes": {
-                "thickness": 3
-            }
-        },
-        "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]
-        }
-    }
-}
-```
-
-Then, here is how to load the JSON file:
-
-```python
-import argaze
-
-# Load ArUcoCamera
-with argaze.load('./configuration.json') as aruco_camera:
-
-    # Do something with ArUcoCamera
-    ...
-```
-
-Now, let's understand the meaning of each JSON entry.
-
-### *name - inherited from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame)*
-
-The name of the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) frame. Basically useful for visualisation purpose.
-
-### *size - inherited from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame)*
-
-The size of the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) frame  in pixels. Be aware that gaze positions have to be in the same range of value to be projected in.
-
-### *aruco_detector*
-
-The first [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) pipeline step is to detect ArUco markers inside input image.
-
-![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.
-
-!!! 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](../gaze_analysis_pipeline/visualisation.md) plus one additional *draw_detected_markers* field.
-
-## Pipeline execution
-
-### 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.
-
-!!! warning "Mandatory"
-
-    [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method must be called from a *try* block to catch pipeline exceptions.
-
-```python
-# Assuming that Full HD (1920x1080) timestamped images are available
-...:
-
-    try:
-
-        # Detect ArUco markers, estimate scene pose then, project 3D AOI into camera frame
-        aruco_camera.watch(image, timestamp=timestamp)
-
-    # Do something with pipeline exception
-    except Exception as e:
-
-        ...
-
-    # Display ArUcoCamera frame image to display detected ArUco markers, scene pose, 2D AOI projection and ArFrame visualisation.
-    ... aruco_camera.image()
-```
-
-### Analyse timestamped gaze positions into camera frame
-
-As mentioned above, [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.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).
-
-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.
-
-!!! warning "Mandatory"
-
-    [ArUcoCamera.look](../../argaze.md/#argaze.ArFeatures.ArFrame.look) method must be called from a *try* block to catch pipeline exceptions.
-
-```python
-# Assuming that timestamped gaze positions are available
-...
-
-    try:
-
-        # Look ArUcoCamera frame at a timestamped gaze position
-        aruco_camera.look(timestamped_gaze_position)
-
-    # Do something with pipeline exception
-    except Exception as e:
-        
-        ...
-```
-
-!!! 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 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 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
diff --git a/docs/user_guide/aruco_markers_pipeline/introduction.md b/docs/user_guide/aruco_markers_pipeline/introduction.md
deleted file mode 100644
index 94370f4..0000000
--- a/docs/user_guide/aruco_markers_pipeline/introduction.md
+++ /dev/null
@@ -1,29 +0,0 @@
-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.  
-
-The OpenCV library provides a module to detect fiducial markers into a picture and estimate their poses.
-
-![OpenCV ArUco markers](../../img/opencv_aruco.png)
-
-The ArGaze [ArUcoMarkers submodule](../../argaze.md/#argaze.ArUcoMarkers) eases markers creation, markers detection and 3D scene pose estimation through a set of high level classes.
-
-First, let's look at the schema below: it gives an overview of the main notions involved in the following chapters.
-
-![ArUco markers pipeline](../../img/aruco_markers_pipeline.png)
-
-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 load and execute ArUco markers pipeline](configuration_and_execution.md),
-* [How to estimate scene pose](pose_estimation.md),
-* [How to describe scene's AOI](aoi_3d_description.md),
-* [How to project 3D AOI into 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:
-
-* [How to script ArUco markers pipeline](advanced_topics/scripting.md),
-* [How to calibrate optic parameters](advanced_topics/optic_parameters_calibration.md),
-* [How to improve ArUco markers detection](advanced_topics/aruco_detector_configuration.md).
diff --git a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
deleted file mode 100644
index 7f6573c..0000000
--- a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
+++ /dev/null
@@ -1,84 +0,0 @@
-Estimate scene pose
-===================
-
-Once [ArUco markers are placed into a scene](aruco_markers_description.md) and [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) is [configured](configuration_and_execution.md), 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.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).
-
-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",
-                "places": {
-                    "0": {
-                        "translation": [17.5, 2.75, -0.5],
-                        "rotation": [-18.5, 0, 0],
-                        "size": 5
-                    },
-                    "1": {
-                        "translation": [46, 34, 18.333],
-                        "rotation": [0, 70, 0],
-                        "size": 5
-                    },
-                    "2": {
-                        "translation": [41, 4, 3.333],
-                        "rotation": [-60, 0, 0],
-                        "size": 5
-                    }
-                }
-            } 
-        }
-    },
-    ...
-    "image_parameters": {
-        ...
-        "draw_scenes": {
-            "MyScene": {
-                "draw_aruco_markers_group": {
-                    "draw_axes": {
-                        "thickness": 3,
-                        "length": 10
-                    },
-                    "draw_places": {
-                        "color": [0, 0, 0],
-                        "border_size": 1
-                    }
-                }
-            }
-        }
-    }
-}
-```
-
-Now, let's understand the meaning of each JSON entry.
-
-### *scenes*
-
-An [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) instance can contains multiples [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) stored by name.
-
-### MyScene
-
-The name of an [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).