doc: Update RST for CV

doc/source/library_reference/common/lib/cv/SpotAnalysis/base_classes.rst

@@ -42,11 +42,4 @@ These are the book keeping classes that enable the spot analysis pipeline.
    :special-members: __init__
    :undoc-members:
    :show-inheritance:
-   :member-order: bysource
-
-.. automodule:: opencsp.common.lib.cv.CacheableImage
-   :members:
-   :special-members: __init__
-   :undoc-members:
-   :show-inheritance:
-   :member-order: groupwise
+   :member-order: bysource

doc/source/library_reference/common/lib/cv/config.rst

@@ -0,0 +1,95 @@
+Base Classes
+============
+
+.. currentmodule:: opencsp.common.lib.cv.CacheableImage
+
+.. automodule:: opencsp.common.lib.cv.CacheableImage
+   :members:
+   :special-members: __init__
+   :undoc-members:
+   :show-inheritance:
+   :member-order: groupwise
+
+.. currentmodule:: opencsp.common.lib.cv.OpticalFlow
+
+.. automodule:: opencsp.common.lib.cv.OpticalFlow
+   :members:
+   :special-members: __init__
+   :undoc-members:
+   :show-inheritance:
+   :member-order: groupwise
+
+Utility Functions
+=================
+
+.. currentmodule:: opencsp.common.lib.cv.image_filters
+
+.. automodule:: opencsp.common.lib.cv.image_filters
+   :members:
+   :special-members: __init__
+   :undoc-members:
+   :show-inheritance:
+   :member-order: groupwise
+
+.. currentmodule:: opencsp.common.lib.cv.image_reshapers
+
+.. automodule:: opencsp.common.lib.cv.image_reshapers
+   :members:
+   :special-members: __init__
+   :undoc-members:
+   :show-inheritance:
+   :member-order: groupwise
+
+Annotations
+===========
+
+.. currentmodule:: opencsp.common.lib.cv.annotations.AbstractAnnotations
+
+.. automodule:: opencsp.common.lib.cv.annotations.AbstractAnnotations
+   :members:
+   :special-members: __init__
+   :undoc-members:
+   :show-inheritance:
+   :member-order: groupwise
+
+.. currentmodule:: opencsp.common.lib.cv.annotations.HotspotAnnotation
+
+.. automodule:: opencsp.common.lib.cv.annotations.HotspotAnnotation
+   :members:
+   :special-members: __init__
+   :undoc-members:
+   :show-inheritance:
+   :member-order: groupwise
+
+.. currentmodule:: opencsp.common.lib.cv.annotations.PointAnnotations
+
+.. automodule:: opencsp.common.lib.cv.annotations.PointAnnotations
+   :members:
+   :special-members: __init__
+   :undoc-members:
+   :show-inheritance:
+   :member-order: groupwise
+
+Fiducials
+=========
+
+.. automodule:: opencsp.common.lib.cv.fiducials.AbstractFiducials
+   :members:
+   :special-members: __init__
+   :undoc-members:
+   :show-inheritance:
+   :member-order: groupwise
+
+.. automodule:: opencsp.common.lib.cv.fiducials.BcsFiducial
+   :members:
+   :special-members: __init__
+   :undoc-members:
+   :show-inheritance:
+   :member-order: groupwise
+
+.. automodule:: opencsp.common.lib.cv.fiducials.PointFiducials
+   :members:
+   :special-members: __init__
+   :undoc-members:
+   :show-inheritance:
+   :member-order: groupwise

doc/source/library_reference/common/lib/cv/index.rst

@@ -0,0 +1,10 @@
+Computer Vision (CV)
+====================
+
+This is a collection of computer vision utilities for OpenCSP.
+
+.. toctree::
+   :maxdepth: 1
+
+   config.rst
+   SpotAnalysis/index.rst

doc/source/library_reference/index.rst

@@ -10,4 +10,4 @@ This section describes the OpenCSP classes and interfaces.
    app/target/index.rst
    app/camera_calibration/index.rst
    app/scene_reconstruction/index.rst
-   common/lib/cv/SpotAnalysis/index.rst
+   common/lib/cv/index.rst

opencsp/common/lib/cv/OpticalFlow.py

@@ -25,13 +25,6 @@ class OpticalFlow:
 
     This class wraps around OpenCV's optical flow functions, providing functionality
     to compute dense optical flow and manage caching of results.
-
-    Attributes
-    ----------
-    mag : np.ndarray, optional
-        OpenCSP version of the magnitude matrix.
-    ang : np.ndarray, optional
-        OpenCSP version of the angle matrix.
     """
 
     # "ChatGPT 4o-mini" assisted with generating this docstring.
@@ -98,15 +91,16 @@ def __init__(
 
         Notes
         -----
-        Wrapper class around cv::calcOpticalFlowFarneback (and also cv::calcOpticalFlowPyrLK, eventually).
+            Wrapper class around cv::calcOpticalFlowFarneback (and also cv::calcOpticalFlowPyrLK, eventually).
 
-        opencsp is not compatible with the multiprocessing library on linux. Typical error message::
-            "global /io/opencv/modules/core/src/parallel_impl.cpp (240) WorkerThread 6: Can't spawn new thread: res = 11"
+        opencsp is not compatible with the multiprocessing library on linux. Typical error message:
+        "global /io/opencv/modules/core/src/parallel_impl.cpp (240) WorkerThread 6: Can't spawn new thread: res = 11"
 
         This is due to some sort of bug with how multiprocessing processes and opencv threads interact.
         Possible solutions:
-         - use concurrent.futures.ThreadPoolExecutor
-         - Loky multiprocessing https://github.com/joblib/loky (I (BGB) couldn't make this one work)
+
+        - use concurrent.futures.ThreadPoolExecutor
+        - Loky multiprocessing https://github.com/joblib/loky (I (BGB) couldn't make this one work)
         """
         # "ChatGPT 4o-mini" assisted with generating this docstring.
         self._frame1_dir = frame1_dir
@@ -126,9 +120,9 @@ def __init__(
         self._cache = cache
 
         self._mag: np.ndarray = None
-        """ XY Matrix. The raw magnitude values returned by opencv, one value per pixel in frame1 """
+        # XY Matrix. The raw magnitude values returned by opencv, one value per pixel in frame1
         self._ang: np.ndarray = None
-        """ XY Matrix. The raw angle values returned by opencv, one value per pixel in frame1 """
+        # XY Matrix. The raw angle values returned by opencv, one value per pixel in frame1
         self.mag: np.ndarray = None
         """ XY Matrix. The OpenCSP version of the magnitude matrix, where each value corresponds to a pixel in frame1 and
         represents the number of pixels that pixel has moved by frame2. """

opencsp/common/lib/cv/annotations/AbstractAnnotations.py

@@ -5,6 +5,7 @@ class AbstractAnnotations(af.AbstractFiducials):
     """
     Annotations are applied to images to mark specific points of interest. Some
     examples of annotations might include:
+
     - The hotspot in a beam where light is the brightest
     - The power envelope for 90% of the light of a beam
     - Distances between two pixels

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

@@ -18,7 +18,7 @@ class AbstractFiducials(ABC):
     """
     A collection of markers (such as an ArUco board) that is used to orient the camera relative to observed objects
     in the scene. It is suggested that each implementing class be paired with a complementary locator method or
-    SpotAnalysisImageProcessor.
+    :class:`opencsp.common.lib.cv.spot_analysis.image_processor.AbstractSpotAnalysisImageProcessor`.
     """
 
     def __init__(self, style: rcps.RenderControlPointSeq = None, pixels_to_meters: Callable[[p2.Pxy], v3.Vxyz] = None):
@@ -88,15 +88,19 @@ def rotation(self) -> scipy.spatial.transform.Rotation:
         marker whose origin is in the center of the image and is facing towards the camera could have the rotation
         defined as:
 
-        Rotation.from_euler('y', np.pi)
+        .. code-block:: python
+
+            Rotation.from_euler('y', np.pi)
 
         If that same ArUco marker was also placed upside down, then its rotation could be defined as:
 
-        Rotation.from_euler(
-            'yz',
-            [[np.pi, 0],
-             [0,     np.pi]]
-        )
+        .. code-block:: python
+
+            Rotation.from_euler(
+                'yz',
+                [[np.pi, 0],
+                [0,     np.pi]]
+            )
 
         Note that this just describes rotation, and not the translation. We call the rotation and translation together
         the orientation.