From cbda49dabd0ab115d75c4d568b748110106220ae Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 17 Apr 2024 20:50:24 +0200
Subject: Updating ArUco marker pipeline documentation.

---
 docs/user_guide/aruco_marker_pipeline/aoi_3d_frame.md            | 8 ++++----
 .../aruco_marker_pipeline/configuration_and_execution.md         | 9 ++++++---
 mkdocs.yml                                                       | 2 +-
 3 files changed, 11 insertions(+), 8 deletions(-)

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 da8f15c..69d0617 100644
--- a/docs/user_guide/aruco_marker_pipeline/aoi_3d_frame.md
+++ b/docs/user_guide/aruco_marker_pipeline/aoi_3d_frame.md
@@ -7,7 +7,7 @@ When an 3D AOI of the scene contains other coplanar 3D AOI, like a screen with G
 
 ## 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.
+The [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame) class defines a rectangular area where timestamped gaze positions are projected 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.ArUcoMarker.ArUcoScene) configuration:
 
@@ -100,16 +100,16 @@ The names of 3D AOI **and** their related [ArFrames](../../argaze.md/#argaze.ArF
 
 ### Map ArUcoCamera image into ArUcoScenes frames
 
-After the camera image is passed to the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method, it is possible to apply a perspective transformation in order to project the watched image into each [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) [frame's background](../../argaze.md/#argaze.ArFeatures.ArFrame) image.
+After the timestamped camera image is passed to the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method, it is possible to apply a perspective transformation in order to project the watched image into each [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) [frame's 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)
+    aruco_camera.watch(timestamped_image)
 
-    # Map watched image into ArUcoScenes frames background
+    # Map watched image into ArUcoScene frames background
     aruco_camera.map(timestamp=timestamp)
 ```
 
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 729608f..f4bd2d4 100644
--- a/docs/user_guide/aruco_marker_pipeline/configuration_and_execution.md
+++ b/docs/user_guide/aruco_marker_pipeline/configuration_and_execution.md
@@ -103,20 +103,23 @@ The usual [ArFrame visualization parameters](../gaze_analysis_pipeline/visualiza
 
 ### Detect ArUco markers, estimate scene pose and project 3D AOI
 
-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.
+Pass each camera image with timestamp information 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"
 
 	The [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
+# Assuming that Full HD (1920x1080) images are available with timestamp values
 ...:
 
+	# Edit timestamped image
+	timestamped_image = DataFeatures.TimestampedImage(image, timestamp=timestamp)
+
 	try:
 
 		# Detect ArUco markers, estimate scene pose then, project 3D AOI into camera frame
-		aruco_camera.watch(image, timestamp=timestamp)
+		aruco_camera.watch(timestamped_image)
 
 	# Do something with pipeline exception
 	except Exception as e:
diff --git a/mkdocs.yml b/mkdocs.yml
index 5b25529..50417b1 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -24,7 +24,7 @@ nav:
       - user_guide/gaze_analysis_pipeline/advanced_topics/scripting.md
       - user_guide/gaze_analysis_pipeline/advanced_topics/module_loading.md
       - user_guide/gaze_analysis_pipeline/advanced_topics/gaze_position_calibration.md
-  - ArUco marker pipeline:
+  - ArUco Marker Pipeline:
     - user_guide/aruco_marker_pipeline/introduction.md
     - user_guide/aruco_marker_pipeline/aruco_marker_description.md
     - user_guide/aruco_marker_pipeline/configuration_and_execution.md
-- 
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