From b3441d12929ee31908fd88138fae546495690459 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 29 Jan 2024 11:35:08 +0100
Subject: Making ArUcoMarkersGroup as PipelineStepObject. Markers size don't
 need to be equal anymore.

---
 docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md    |  2 +-
 .../aruco_markers_pipeline/aruco_markers_description.md   | 15 ++++++++++-----
 .../aruco_markers_pipeline/configuration_and_execution.md |  5 ++---
 docs/user_guide/aruco_markers_pipeline/pose_estimation.md | 10 ++++++----
 4 files changed, 19 insertions(+), 13 deletions(-)

(limited to 'docs/user_guide')

diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md b/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
index 4f9af7c..53d1ddb 100644
--- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
+++ b/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
@@ -108,7 +108,7 @@ After camera image is passed to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFe
     aruco_camera.watch(timestamp, image)
 
     # Map watched image into ArUcoScenes frames background
-    aruco_camera.map()
+    aruco_camera.map(timestamp)
 ```
 
 ### Analyse timestamped gaze positions into ArUcoScenes frames
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 ebbeec7..055d1de 100644
--- a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
+++ b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
@@ -87,7 +87,10 @@ Here are common OBJ file features needed to describe ArUco markers places:
 * 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.
+	Markers have to belong to the same dictionary.
+
+!!! note
+    Markers can have different size.
 
 ### Edit JSON file description
 
@@ -96,19 +99,21 @@ JSON file format allows to describe markers places using translation and euler a
 ``` json
 {
     "dictionary": "DICT_APRILTAG_16h5",
-    "marker_size": 5,
     "places": {
         "0": {
             "translation": [17.5, 2.75, -0.5],
-            "rotation": [-18.5, 0, 0]
+            "rotation": [-18.5, 0, 0],
+            "size": 5
         },
         "1": {
             "translation": [46, 34, 18.333],
-            "rotation": [0, 70, 0]
+            "rotation": [0, 70, 0],
+            "size": 5
         },
         "2": {
             "translation": [41, 4, 3.333],
-            "rotation": [-60, 0, 0]
+            "rotation": [-60, 0, 0],
+            "size": 5
         }
     }
 }
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 5b740dc..4f3ce5b 100644
--- a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
+++ b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
@@ -18,8 +18,7 @@ Here is a simple JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCa
 	"name": "My FullHD camera",
 	"size": [1920, 1080],
 	"aruco_detector": {
-        "dictionary": "DICT_APRILTAG_16h5",
-        "marker_size": 5
+        "dictionary": "DICT_APRILTAG_16h5"
     },
     "gaze_movement_identifier": {
         "DispersionThresholdIdentification": {
@@ -76,7 +75,7 @@ The first [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) pipeli
 
 ![ArUco markers detection](../../img/aruco_camera_markers_detection.png)
 
-The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) is in charge to detect all markers from a specific dictionary with a given size in centimeters.
+The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) is in charge to detect all markers from a specific dictionary.
 
 !!! warning "Mandatory"
     JSON *aruco_detector* entry is mandatory.
diff --git a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
index 853c4a8..7f6573c 100644
--- a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
+++ b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
@@ -20,19 +20,21 @@ Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMark
         "MyScene" : {
             "aruco_markers_group": {
                 "dictionary": "DICT_APRILTAG_16h5",
-                "marker_size": 5,
                 "places": {
                     "0": {
                         "translation": [17.5, 2.75, -0.5],
-                        "rotation": [-18.5, 0, 0]
+                        "rotation": [-18.5, 0, 0],
+                        "size": 5
                     },
                     "1": {
                         "translation": [46, 34, 18.333],
-                        "rotation": [0, 70, 0]
+                        "rotation": [0, 70, 0],
+                        "size": 5
                     },
                     "2": {
                         "translation": [41, 4, 3.333],
-                        "rotation": [-60, 0, 0]
+                        "rotation": [-60, 0, 0],
+                        "size": 5
                     }
                 }
             } 
-- 
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