Refactoring aruco markers pipeline illustrations.

6 files changed, 83 insertions, 55 deletions

diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md b/docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md
index b02bc9e..4228ce7 100644
--- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md
+++ b/docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md
@@ -3,7 +3,7 @@ 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.
 
-In the example scene, the screen and the sheet are considered as areas of interest.
+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)
 
@@ -21,18 +21,31 @@ All AOI need to be described from same origin than markers in a [right-handed 3D
 OBJ file format could be exported from most 3D editors.
 
 ``` obj
-o Sheet
-v 14.200000 -3.000000 28.350000
-v 35.200000 -3.000000 28.350000
-v 14.200000 -3.000000 -1.35
-v 35.200000 -3.000000 -1.35
+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 Screen
-v 2.750000 2.900000 -0.500000
-v 49.250000 2.900000 -0.500000
-v 2.750000 29.100000 -0.500000
-v 49.250000 29.100000 -0.500000
+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:  
@@ -47,7 +60,9 @@ JSON file format allows to describe AOI vertices.
 
 ``` json
 {
-    "Sheet": [[14.2, -3, 28.35], [35.2, -3, 28.35], [14.2, -3, -1.35], [35.2, -3, -1.35]],
-    "Screen": [[2.75, 2.9, -0.5], [49.25, 2.9, -0.5], [2.75, 29.1, -0.5], [49.25, 29.1, -0.5]]
+    "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
index f1ae1f6..eb3452f 100644
--- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
+++ b/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
@@ -9,7 +9,7 @@ When an 3D AOI of the scene contains others coplanar 3D AOI, like a screen with
 
 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 "Screen" AOI is defined as a frame into [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) configuration:
+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
 {
@@ -24,37 +24,48 @@ Here is the previous extract where "Screen" AOI is defined as a frame into [ArUc
             "layers": {
                 "MyLayer": {
                     "aoi_scene": {
-                        "Sheet": [[14.2, -3, 28.35], [35.2, -3, 28.35], [14.2, -3, -1.35], [35.2, -3, -1.35]],
-                        "Screen": [[2.75, 2.9, -0.5], [49.25, 2.9, -0.5], [2.75, 29.1, -0.5], [49.25, 29.1, -0.5]]
+                        "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": {
-            	"Screen": {
-            		"size": [1920, 1080],
+            	"Left_Screen": {
+            		"size": [768, 1024],
             		"layers": {
             			"MyLayer": {
             				"aoi_scene": {
-                                "GeoSector": [[860, 160], [1380, 100], [1660, 400], [1380, 740], [1440, 960], [920, 920], [680, 800], [640, 560]],
                                 "LeftPanel": {
                                     "Rectangle": {
                                         "x": 0,
                                         "y": 0,
-                                        "width": 350,
-                                        "height": 1080
+                                        "width": 768,
+                                        "height": 180
                                     }
                                 },
                                 "CircularWidget": {
                                     "Circle": {
-                                        "cx": 1800,
-                                        "cy": 120,
-                                        "radius": 80
+                                        "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]]
+                            }
+                        }
+                    }
+                }
             }
         }
     }
diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_3d_projection.md b/docs/user_guide/aruco_markers_pipeline/aoi_3d_projection.md
index 8c7310b..370a2ed 100644
--- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_projection.md
+++ b/docs/user_guide/aruco_markers_pipeline/aoi_3d_projection.md
@@ -24,8 +24,10 @@ Here is the previous extract where one layer is added to [ArUcoScene](../../arga
             "layers": {
                 "MyLayer": {
                     "aoi_scene": {
-                        "Sheet": [[14.2, -3, 28.35], [35.2, -3, 28.35], [14.2, -3, -1.35], [35.2, -3, -1.35]],
-                        "Screen": [[2.75, 2.9, -0.5], [49.25, 2.9, -0.5], [2.75, 29.1, -0.5], [49.25, 29.1, -0.5]]
+                        "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/aruco_markers_description.md b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
index 6380f88..ebbeec7 100644
--- a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
+++ b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
@@ -3,7 +3,7 @@ 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 a screen and a sheet on the table (considering the sheet stays static for the moment).
+Here is an example scene where markers are surrounding a workspace with two screens, a control panel and a window.
 
 ![Scene](../../img/scene.png)
 
@@ -61,23 +61,23 @@ OBJ file format could be exported from most 3D editors.
 
 ``` obj
 o DICT_APRILTAG_16h5#0_Marker
-v 0.000000 0.000000 0.000000
-v 5.000000 0.000000 0.000000
-v 0.000000 5.000000 0.000000
-v 5.000000 5.000000 0.000000
-f 1//1 2//1 4//1 3//1
+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 -0.855050 24.000002 4.349232
-v 0.855050 24.000002 -0.349231
-v -0.855050 29.000002 4.349232
-v 0.855050 29.000002 -0.349231
-f 5//2 6//2 8//2 7//2
+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 44.000000 0.000000 9.500000
-v 49.000000 0.000000 9.500000
-v 44.000000 -0.000000 4.500000
-v 49.000000 -0.000000 4.500000
-f 9//3 10//3 12//3 11//3
+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:  
@@ -99,16 +99,16 @@ JSON file format allows to describe markers places using translation and euler a
     "marker_size": 5,
     "places": {
         "0": {
-            "translation": [2.5, 2.5, 0],
-            "rotation": [0, 0, 0]
+            "translation": [17.5, 2.75, -0.5],
+            "rotation": [-18.5, 0, 0]
         },
         "1": {
-            "translation": [0, 26.5, 2],
+            "translation": [46, 34, 18.333],
             "rotation": [0, 70, 0]
         },
         "2": {
-            "translation": [46.5, 0, 7],
-            "rotation": [-90, 0, 0]
+            "translation": [41, 4, 3.333],
+            "rotation": [-60, 0, 0]
         }
     }
 }
diff --git a/docs/user_guide/aruco_markers_pipeline/introduction.md b/docs/user_guide/aruco_markers_pipeline/introduction.md
index 37ab055..94370f4 100644
--- a/docs/user_guide/aruco_markers_pipeline/introduction.md
+++ b/docs/user_guide/aruco_markers_pipeline/introduction.md
@@ -9,9 +9,9 @@ The OpenCV library provides a module to detect fiducial markers into a picture a
 
 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. -->
+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) -->
+![ArUco markers pipeline](../../img/aruco_markers_pipeline.png)
 
 To build your own ArUco markers pipeline, you need to know:
 
diff --git a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
index 6b58b24..853c4a8 100644
--- a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
+++ b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
@@ -23,16 +23,16 @@ Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMark
                 "marker_size": 5,
                 "places": {
                     "0": {
-                        "translation": [2.5, 2.5, 0],
-                        "rotation": [0, 0, 0]
+                        "translation": [17.5, 2.75, -0.5],
+                        "rotation": [-18.5, 0, 0]
                     },
                     "1": {
-                        "translation": [0, 26.5, 2],
+                        "translation": [46, 34, 18.333],
                         "rotation": [0, 70, 0]
                     },
                     "2": {
-                        "translation": [46.5, 0, 7],
-                        "rotation": [-90, 0, 0]
+                        "translation": [41, 4, 3.333],
+                        "rotation": [-60, 0, 0]
                     }
                 }
             }