From 2f65eeb2ed01d27817c42122c5284c9d5e608753 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Thu, 23 Nov 2023 02:27:59 +0100
Subject: Refactoring aruco markers pipeline illustrations.

---
 .../aruco_markers_description.md                   | 42 +++++++++++-----------
 1 file changed, 21 insertions(+), 21 deletions(-)

(limited to 'docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md')

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]
         }
     }
 }
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