From 913b72b3176dfd4a613f9fb9de1c985fb13b8ad8 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 19 Sep 2023 13:49:02 +0200
Subject: Working on aruco markers pipeline.

---
 .../aruco_markers_description.md                   | 64 ++++++++++------------
 1 file changed, 28 insertions(+), 36 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 061fb19..1c13013 100644
--- a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
+++ b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
@@ -1,7 +1,11 @@
-Setup ArUco markers into a scene
-================================
+Set up ArUco markers
+====================
 
-First of all, ArUco markers needs to be printed and placed into the scene.
+First of all, ArUco markers needs to be printed and placed into the scene. 
+
+Here is an example scene where markers are surrounding a multi-screen workspace with a triangle area inside one of them.
+
+![Scene](../../img/scene.png)
 
 ## Print ArUco markers from a ArUco dictionary
 
@@ -40,7 +44,7 @@ Let's print some of them before to go further.
 
 Once [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) pictures are placed into a scene it is possible to describe their 3D places into a file.
 
-![ArUco scene](../../img/aruco_scene.png)
+![ArUco markers description](../../img/aruco_markers_description.png)
 
 Where ever the origin point is, all markers places need to be described in a [right-handed 3D axis](https://robotacademy.net.au/lesson/right-handed-3d-coordinate-frame/) where:
 
@@ -57,37 +61,29 @@ OBJ file format could be exported from most 3D editors.
 
 ``` obj
 o DICT_APRILTAG_16h5#0_Marker
-v -5.000000 14.960000 0.000000
-v 0.000000 14.960000 0.000000
-v -5.000000 19.959999 0.000000
-v 0.000000 19.959999 0.000000
+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
 vn 0.0000 0.0000 1.0000
 s off
 f 1//1 2//1 4//1 3//1
 o DICT_APRILTAG_16h5#1_Marker
-v 25.000000 14.960000 0.000000
-v 30.000000 14.960000 0.000000
-v 25.000000 19.959999 0.000000
-v 30.000000 19.959999 0.000000
-vn 0.0000 0.0000 1.0000
+v -1.767767 23.000002 3.767767
+v 1.767767 23.000002 0.232233
+v -1.767767 28.000002 3.767767
+v 1.767767 28.000002 0.232233
+vn 0.7071 0.0000 0.7071
 s off
 f 5//2 6//2 8//2 7//2
 o DICT_APRILTAG_16h5#2_Marker
-v -5.000000 -5.000000 0.000000
-v 0.000000 -5.000000 0.000000
-v -5.000000 0.000000 0.000000
-v 0.000000 0.000000 0.000000
-vn 0.0000 0.0000 1.0000
+v 33.000000 -1.767767 4.767767
+v 38.000000 -1.767767 4.767767
+v 33.000000 1.767767 1.232233
+v 38.000000 1.767767 1.232233
+vn 0.0000 0.7071 0.7071
 s off
 f 9//3 10//3 12//3 11//3
-o DICT_APRILTAG_16h5#3_Marker
-v 25.000000 -5.000000 0.000000
-v 30.000000 -5.000000 0.000000
-v 25.000000 0.000000 0.000000
-v 30.000000 0.000000 0.000000
-vn 0.0000 0.0000 1.0000
-s off
-f 13//4 14//4 16//4 15//4
 ```
 
 Here are common OBJ file features needed to describe ArUco markers places:  
@@ -110,20 +106,16 @@ JSON file format allows to describe markers places using translation and euler a
     "marker_size": 5,
     "places": {
         "0": {
-            "translation": [-2.5, 17.5, 0],
-            "rotation": [0.0, 0.0, 0.0]
+            "translation": [2.5, 2.5, 0],
+            "rotation": [0, 0, 0]
         },
         "1": {
-            "translation": [27.5, 17.5, 0],
-            "rotation": [0.0, 0.0, 0.0]
+            "translation": [0, 25.5, 2],
+            "rotation": [0, 45, 0]
         },
         "2": {
-            "translation": [-2.5, -2.5, 0],
-            "rotation": [0.0, 0.0, 0.0]
-        },
-        "3": {
-            "translation": [27.5, -2.5, 0],
-            "rotation": [0.0, 0.0, 0.0]
+            "translation": [35.5, 0, 3],
+            "rotation": [-45, 0, 0]
         }
     }
 }
-- 
cgit v1.1