From 935ca70dfa1cde21b6c3c43659db3dcac3223c44 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 6 Sep 2023 10:01:12 +0200
Subject: Renaming aruco markers pipeline chapter. Working on aruco camera
 configuratin chapter.

---
 .../aruco_markers_description.md                   | 130 +++++++++++++++++++++
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 create mode 100644 docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md

(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
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+Setup ArUco markers into a scene
+================================
+
+First of all, ArUco markers needs to be printed and placed into the scene.
+
+## Print ArUco markers from a ArUco dictionary
+
+ArUco markers always belongs to a set of markers called ArUco markers dictionary.
+
+![ArUco dictionaries](../../img/aruco_dictionaries.png)
+
+Many ArUco dictionaries exist with properties concerning the format, the number of markers or the difference between each markers to avoid error in tracking.
+
+Here is the documention [about ArUco markers dictionaries](https://docs.opencv.org/3.4/d9/d6a/group__aruco.html#gac84398a9ed9dd01306592dd616c2c975).
+
+The creation of [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) pictures from a dictionary is illustrated in the code below:
+ 
+``` python
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary
+
+# Create a dictionary of specific April tags
+aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
+
+# Export marker n°5 as 3.5 cm picture with 300 dpi resolution
+aruco_dictionary.create_marker(5, 3.5).save('./markers/', 300)
+
+# Export all dictionary markers as 3.5 cm pictures with 300 dpi resolution
+aruco_dictionary.save('./markers/', 3.5, 300)
+```
+
+!!! note
+      There is **A4_DICT_APRILTAG_16h5_5cm_0-7.pdf** file located in *./src/argaze/ArUcoMarkers/utils/* folder ready to be printed on A4 paper sheet.
+
+Let's print some of them before to go further.
+
+!!! warning
+	Print markers with a blank zone around them to help in their detection.
+
+## Describe ArUco markers place
+
+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)
+
+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:
+
+* +X is pointing to the right,
+* +Y is pointing to the top,
+* +Z is pointing to the backward.
+
+!!! warning
+	All ArUco markers spatial values must be given in **centimeters**.
+
+### Edit OBJ file description
+
+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
+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
+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
+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:  
+
+* Object lines (starting with *o* key) indicate markers dictionary and id by following this format: **DICTIONARY**#**ID**\_Marker.
+* Vertice lines (starting with *v* key) indicate markers corners. The marker size will be automatically deducted from the geometry.
+* Plane normals (starting with *vn* key) need to be exported for further pose estimation.
+* Face (starting with *f* key) link vertices and normals indexes together.
+
+!!! warning
+	All markers must have the same size and belong to the same dictionary.
+
+### Edit JSON file description
+
+JSON file format allows to describe markers places using translation and euler angle rotation vectors.
+
+``` json
+{
+    "dictionary": "DICT_APRILTAG_16h5",
+    "marker_size": 5,
+    "places": {
+        "0": {
+            "translation": [-2.5, 17.5, 0],
+            "rotation": [0.0, 0.0, 0.0]
+        },
+        "1": {
+            "translation": [27.5, 17.5, 0],
+            "rotation": [0.0, 0.0, 0.0]
+        },
+        "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]
+        }
+    }
+}
+```
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