From d904b99cc969c977f911d36cfeb2279544c528e5 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 23 Jan 2024 14:54:30 +0100
Subject: Defing PipelineStepObject and PipelineStepMethod to assess time
 execution. Removing exception managment to let the user catch them into the
 script.

---
 .../advanced_topics/scripting.md                   | 26 ++++++++-----------
 .../configuration_and_execution.md                 | 30 +++++++++++++++++++---
 2 files changed, 37 insertions(+), 19 deletions(-)

(limited to 'docs/user_guide/aruco_markers_pipeline')

diff --git a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
index c79c8b5..99f52ee 100644
--- a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
+++ b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
@@ -78,30 +78,26 @@ for name, aruco_scene in aruco_camera.scenes.items():
 # Assuming that timestamped images are available
 ...:
 
-    # Watch image with ArUco camera
-    detection_time, projection_time, exception = aruco_camera.watch(timestamp, image)
+    try:
 
-    # Do something with pipeline times
-    ...
+        # Watch image with ArUco camera
+        aruco_camera.watch(timestamp, image)
 
     # Do something with pipeline exception
-    if exception:
+    except Exception as e:
+
         ...
+
+    # Do something with detected_markers
+    ... aruco_camera.aruco_detector.detected_markers
+    
 ```
 
 Let's understand the meaning of each returned data.
 
-### *detection_time*
-
-ArUco marker detection time in ms.
-
-### *projection_time*
-
-Scenes projection time in ms.
-
-### *exception*
+### *aruco_camera.aruco_detector.detected_markers*
 
-A [python Exception](https://docs.python.org/3/tutorial/errors.html#exceptions) object raised during pipeline execution.
+A dictionary containing all detected markers provided by [ArUcoDetector](../../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) class.
 
 ## Setup ArUcoCamera image parameters
 
diff --git a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
index 43bb64e..5b740dc 100644
--- a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
+++ b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
@@ -97,12 +97,23 @@ The usual [ArFrame visualisation parameters](../gaze_analysis_pipeline/visualisa
 
 Pass each camera image to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method to execute the whole pipeline dedicated to ArUco markers detection, scene pose estimation and 3D AOI projection.
 
+!!! warning "Mandatory"
+
+    [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method must be called from a *try* block to catch pipeline exceptions.
+
 ```python
 # Assuming that Full HD (1920x1080) timestamped images are available
 ...:
 
-    # Detect ArUco markers, estimate scene pose then, project 3D AOI into camera frame
-    aruco_camera.watch(timestamp, image)
+    try:
+
+        # Detect ArUco markers, estimate scene pose then, project 3D AOI into camera frame
+        aruco_camera.watch(timestamp, image)
+
+    # Do something with pipeline exception
+    except Exception as e:
+
+        ...
 
     # Display ArUcoCamera frame image to display detected ArUco markers, scene pose, 2D AOI projection and ArFrame visualisation.
     ... aruco_camera.image()
@@ -114,12 +125,23 @@ As mentioned above, [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCame
 
 Particularly, timestamped gaze positions can be passed one by one to [ArUcoCamera.look](../../argaze.md/#argaze.ArFeatures.ArFrame.look) method to execute the whole pipeline dedicated to gaze analysis.
 
+!!! warning "Mandatory"
+
+    [ArUcoCamera.look](../../argaze.md/#argaze.ArFeatures.ArFrame.look) method must be called from a *try* block to catch pipeline exceptions.
+
 ```python
 # Assuming that timestamped gaze positions are available
 ...
 
-    # Look ArUcoCamera frame at a timestamped gaze position
-    aruco_camera.look(timestamp, gaze_position)
+    try:
+
+        # Look ArUcoCamera frame at a timestamped gaze position
+        aruco_camera.look(timestamp, gaze_position)
+
+    # Do something with pipeline exception
+    except Exception as e:
+        
+        ...
 ```
 
 !!! note ""
-- 
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