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.

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 docs/user_guide/aruco_markers/markers_detection.md | 47 ++++++++++++++++++++++
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 create mode 100644 docs/user_guide/aruco_markers/markers_detection.md

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+Markers detection
+=================
+
+![Detected markers](../../img/detected_markers.png)
+
+Firstly, the ArUco detector needs to know the expected dictionary and size (in centimeter) of the markers it have to detect.
+
+Notice that extra parameters are passed to detector: see [OpenCV ArUco markers detection parameters documentation](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html) to know more.
+
+``` python
+from argaze.ArUcoMarkers import ArUcoDetector, ArUcoCamera
+
+# Assuming camera calibration data are loaded
+
+# Loading extra detector parameters
+extra_parameters = ArUcoDetector.DetectorParameters.from_json('./detector_parameters.json')
+
+# Create ArUco detector to track DICT_APRILTAG_16h5 5cm length markers 
+aruco_detector = ArUcoDetector.ArUcoDetector(camera=aruco_camera, dictionary='DICT_APRILTAG_16h5', marker_size=5, parameters=extra_parameters)
+```
+
+Here is detector parameters JSON file example:
+
+```
+{
+       "cornerRefinementMethod": 1,
+       "aprilTagQuadSigma": 2,
+       "aprilTagDeglitch": 1
+}
+```
+
+The ArUco detector processes frame to detect markers and allows to draw detection results onto it:
+
+``` python
+# Detect markers into a frame and draw them
+aruco_detector.detect_markers(frame)
+aruco_detector.draw_detected_markers(frame)
+
+# Get corners position into frame related to each detected markers
+for marker_id, marker in aruco_detector.detected_markers.items():
+
+       print(f'marker {marker_id} corners: ', marker.corners)
+
+       # Do something with detected marker i corners
+       ...
+
+```
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