better method names and descriptions, to match the comments on PR #87

opencsp/common/lib/cv/AbstractFiducials.py

@@ -47,28 +47,31 @@ def origin(self) -> p2.Pxy:
 
     @property
     @abstractmethod
-    def orientation(self) -> scipy.spatial.transform.Rotation:
+    def rotation(self) -> scipy.spatial.transform.Rotation:
         """
-        The orientation of the normal vector(s) of this instance.
-        This is relative to the orthorectified source image, where x is positive
+        The pointing of the normal vector(s) of this instance.
+        This is relative to the camera's reference frame, 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::
+        rotation::
 
             Rotation.from_euler('y', np.pi)
 
         If that same aruco marker was also placed upside down, then it's
-        orientation could be::
+        rotation could be::
 
             Rotation.from_euler(
                 'yz',
                 [ [np.pi, 0],
                   [0,     np.pi] ]
             )
+
+        Not that this just describes rotation, and not the translation. We call
+        the rotation and translation together the orientation.
         """
 
     @property
@@ -83,7 +86,7 @@ def size(self) -> list[float]:
     def scale(self) -> list[float]:
         """
         The scale(s) of this fiducial, in meters, relative to its longest axis.
-        This can be used to determine the distance and orientation of the
+        This can be used to determine the distance and rotation of the
         fiducial relative to the camera.
         """
         ret = []

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

@@ -43,8 +43,8 @@ def origin(self) -> p2.Pxy:
         return self.origin_px
 
     @property
-    def orientation(self) -> scipy.spatial.transform.Rotation:
-        raise NotImplementedError("Orientation is not yet implemented for PointFiducials")
+    def rotation(self) -> scipy.spatial.transform.Rotation:
+        raise NotImplementedError("rotation is not yet implemented for PointFiducials")
 
     @property
     def size(self) -> list[float]:

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

@@ -24,7 +24,7 @@ def origin(self) -> p2.Pxy:
         return self.points
 
     @property
-    def orientation(self) -> scipy.spatial.transform.Rotation:
+    def rotation(self) -> scipy.spatial.transform.Rotation:
         raise NotImplementedError("Orientation is not yet implemented for PointFiducials")
 
     @property