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Estimate scene pose
===================
Once [ArUco markers are placed into a scene](aruco_marker_description.md) and the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) is [configured](configuration_and_execution.md), the scene pose can be estimated.
## Add ArUcoScene to ArUcoCamera JSON configuration file
An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) class defines a space with [ArUco markers inside](aruco_marker_description.md), helping to estimate scene pose when they are watched by [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera).
Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) configuration file with a sample where one scene is added and displayed:
```json
{
"argaze.ArUcoMarker.ArUcoCamera.ArUcoCamera": {
"name": "My FullHD camera",
"size": [1920, 1080],
...
"scenes": {
"MyScene" : {
"aruco_markers_group": {
"dictionary": "DICT_APRILTAG_16h5",
"places": {
"0": {
"translation": [17.5, 2.75, -0.5],
"rotation": [-18.5, 0, 0],
"size": 5
},
"1": {
"translation": [46, 34, 18.333],
"rotation": [0, 70, 0],
"size": 5
},
"2": {
"translation": [41, 4, 3.333],
"rotation": [-60, 0, 0],
"size": 5
}
}
}
}
},
...
"image_parameters": {
...
"draw_scenes": {
"MyScene": {
"draw_aruco_markers_group": {
"draw_axes": {
"thickness": 3,
"length": 10
},
"draw_places": {
"color": [0, 0, 0],
"border_size": 1
}
}
}
}
}
}
}
```
Now, let's understand the meaning of each JSON entry.
### *scenes*
An [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) instance can contain multiples [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) stored by name.
### MyScene
The name of an [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene). Basically, it is useful for visualization purposes.
### *aruco_markers_group*
The 3D placement of ArUco markers into the scene, as defined in the [ArUco marker description chapter](aruco_marker_description.md). Thanks to this description, it is possible to estimate the pose of [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) in an [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) frame.
!!! note
[ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) pose estimation is done when calling the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method.
### *draw_scenes*
The drawing parameters of each loaded [ArUcoScene](../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) in an [ArUcoCamera.image](../../argaze.md/#argaze.ArFeatures.ArFrame.image).
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