From c4552e04e1271a9210a934233beae5be1943d034 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 7 Jun 2023 14:34:14 +0200
Subject: Writing User guide and use cases section.

---
 .../ar_environment/environment_exploitation.md     | 36 ++++++++++++++++++++++
 1 file changed, 36 insertions(+)
 create mode 100644 docs/user_guide/ar_environment/environment_exploitation.md

(limited to 'docs/user_guide/ar_environment/environment_exploitation.md')

diff --git a/docs/user_guide/ar_environment/environment_exploitation.md b/docs/user_guide/ar_environment/environment_exploitation.md
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+Environment exploitation
+========================
+
+Once loaded, AR environment assets can be exploited as illustrated below:
+
+```python
+# Access to AR environment ArUco detector passing it a frame where to detect ArUco markers
+ar_environment.aruco_detector.detect_markers(frame)
+
+# Access to an AR environment scene
+my_first_scene = ar_environment.scenes['my first AR scene']
+
+try:
+
+     # Try to estimate AR scene pose from detected markers
+     tvec, rmat, consistent_markers = my_first_scene.estimate_pose(ar_environment.aruco_detector.detected_markers)
+
+     # Project AR scene into camera frame according estimated pose
+     # Optional visual_hfov argument is set to 160° to clip AOI scene according a cone vision
+     aoi2D_scene = my_first_scene.project(tvec, rmat, visual_hfov=160)
+
+     # Draw estimated AR scene axis
+     my_first_scene.draw_axis(frame)
+
+     # Draw AOI2D scene projection
+     aoi2D_scene.draw(frame)
+
+     # Do something with AOI2D scene projection
+     ...
+
+# Catch exceptions raised by estimate_pose and project methods
+except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e:
+
+    print(e)
+
+```
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