better AbstractFiducial.orientation description

opencsp/common/lib/cv/AbstractFiducials.py

@@ -47,9 +47,24 @@ def origin(self) -> p2.Pxy:
     @property
     @abstractmethod
     def orientation(self) -> v3.Vxyz:
-        """The orientation(s) of this instance, in radians. This is relative to
-        the source image, where x is positive to the right, y is positive down,
-        and z is positive in (away from the camera)."""
+        """
+        The orientation of the normal vector(s) of this instance, in radians.
+        This is relative to the orthorectified source image, where x is positive
+        to the right, y is positive down, and z is positive in (away from the
+        camera).
+
+        This can be used to describe the forward transformation from the
+        camera's perspective. For example, an aruco marker whose origin is in
+        the center of the image and is facing towards the camera could have the
+        orientation::
+
+            Vxyz([0, np.pi, 0])
+
+        If that same aruco marker was also placed upside down, then it's
+        orientation could be::
+
+            Vxyz([0, np.pi, np.pi])
+        """
 
     @property
     @abstractmethod

opencsp/common/lib/cv/fiducials/BcsFiducial.py

@@ -43,7 +43,7 @@ def origin(self) -> p2.Pxy:
 
     @property
     def orientation(self) -> v3.Vxyz:
-        return v3.Vxyz([0, 0, 0])
+        raise NotImplementedError("Orientation is not yet implemented for PointFiducials")
 
     @property
     def size(self) -> list[float]:

opencsp/common/lib/cv/fiducials/PointFiducials.py

@@ -24,8 +24,8 @@ def origin(self) -> p2.Pxy:
 
     @property
     def orientation(self) -> v3.Vxyz:
-        # TODO untested
-        return np.zeros((3, self.points.x.size))
+        # return np.zeros((3, len(self.points))) # TODO untested
+        raise NotImplementedError("Orientation is not yet implemented for PointFiducials")
 
     @property
     def size(self) -> list[float]: