docs: private void prepareForOutput(Polygon2D_F64 imageShape, Result result) {
  		// the rotation estimate, apply in counter clockwise direction
  		// since result.rotation is a clockwise rotation in the visual sense, which
  		// is CCW on the grid
  		int rotationCCW = (4-result.rotation)%4;
  		for (int j = 0; j < rotationCCW; j++) {
  			UtilPolygons2D_F64.shiftUp(imageShape);
  		}
  
  		// save the results for output
  		FoundFiducial f = found.grow();
  		f.id = result.which;
  
  		for (int i = 0; i < 4; i++) {
  			Point2D_F64 a = imageShape.get(i);
  			undistToDist.compute(a.x, a.y, f.distortedPixels.get(i));
  		}
  	}