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update helicalscan

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This commit is contained in:
zamofing_t
2017-12-04 11:58:33 +01:00
parent e8a65357b7
commit d771169639
2 changed files with 272 additions and 165 deletions
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165
python/helicalscan.py
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@@ -14,8 +14,83 @@ import os, sys, json
import numpy as np
import matplotlib as mpl
import matplotlib.pyplot as plt
import mpl_toolkits.mplot3d as plt3d
import matplotlib.animation as anim
from utilities import *
#ax.set_xlabel('Z');ax.set_ylabel('X');ax.set_zlabel('Y')
#plot coordinates: X Y Z
#data Z X Y
class Trf:
#https://stackoverflow.com/questions/6802577/python-rotation-of-3d-vector
@staticmethod
def rotZ(rad):
""" Return matrix for rotating about the z-axis by 'radians' radians """
c = np.cos(rad)
s = np.sin(rad)
m=np.identity(4)
m[0:2,0:2]=((c, -s),(s, c))
return m
@staticmethod
def rotY(rad):
""" Return matrix for rotating about the z-axis by 'radians' radians """
c = np.cos(rad)
s = np.sin(rad)
m=np.identity(4)
m[np.ix_((0,2),(0,2))]=((c, -s),(s, c))
return m
@staticmethod
def trans(v):
m=np.identity(4)
m[0:3, 3] = v
return m
class ExtAxes():#mpl.axes._subplots.Axes3DSubplot):
def __init__(self,ax):
self.ax=ax
ax.set_xlabel('Z');ax.set_ylabel('X');ax.set_zlabel('Y')
ax.view_init(elev=14., azim=10)
def setCenter(self,v,l):
ax=self.ax
#v=center vector, l= length of each axis
l2=l/2.
ax.set_xlim(v[2]-l2, v[2]+l2);
ax.set_ylim(v[0]-l2, v[0]+l2);
ax.set_zlim(v[1]-l2, v[1]+l2)
def pltOrig(self,m):
ax=self.ax
# m is a 4x4 matrix. the transformed matrix
r=m[:3,0] #1st
g=m[:3,1] #2nd
b=m[:3,2] #3rd
o=m[:3,3] #origin
hr=ax.plot((o[2],o[2]+r[2]), (o[0],o[0]+r[0]), (o[1],o[1]+r[1]), 'r')
hg=ax.plot((o[2],o[2]+g[2]), (o[0],o[0]+g[0]), (o[1],o[1]+g[1]), 'g')
hb=ax.plot((o[2],o[2]+b[2]), (o[0],o[0]+b[0]), (o[1],o[1]+b[1]), 'b')
return hr+hg+hb # this is a list
def my_anim_func(idx,horig):
print('anim')
a=idx*.01*2*np.pi
m=Trf.rotY(a)
r = m[:3, 0] # 1st
g = m[:3, 1] # 2nd
b = m[:3, 2] # 3rd
o = m[:3, 3] # origin
hr,hg,hb=horig
hr.set_data((o[2], o[2] + r[2]), (o[0], o[0] + r[0]))
hr.set_3d_properties((o[1], o[1] + r[1]))
hg.set_data((o[2], o[2] + g[2]), (o[0], o[0] + g[0]))
hg.set_3d_properties((o[1], o[1] + g[1]))
hb.set_data((o[2], o[2] + b[2]), (o[0], o[0] + b[0]))
hb.set_3d_properties((o[1], o[1] + b[1]))
class HelicalScan:
def __init__(self,args):
if args.cfg:
@@ -53,61 +128,89 @@ class HelicalScan:
eval('self.' + cmd)
def test_coord_trf(self):
n = 3.; per = 1.; t = np.arange(n)
p=((2.3,2.31,4.12,24.6),(6.2,2.74,32.1,3.28)) #(y, bias, ampl, phi)
d2r=2*np.pi/360
plt.ion()
fig = plt.figure()
#ax = fig.gca(projection='3d')
ax = fig.add_subplot(1,1,1,projection='3d')
extAx=ExtAxes(ax)
extAx.setCenter((0,5,15),10)
n = 3.; per = 1.; w = 2*np.pi*per/n*np.arange(n)
p=((2.3,0.71,4.12,10.6*d2r),(6.2,.45,3.2,45.28*d2r)) #(y, bias, ampl, phi)
self.param=param=np.ndarray((len(p),5))
z=4.5 # fix z position
z=14.5 # fix z position
pt=np.ndarray((4,3))
for i in range(2):
(y, bias, ampl, phi) =p[i]
x= ampl * np.cos(2 * np.pi * (per / n * t + phi / 360.)) + bias
x= ampl * np.cos(w+phi) + bias
print('yMeas_%d='%i+str(y)+' xMeas_%d='%i+str(x))
#param[i]=(z_i, y_i, x_i, r_i,phi_i)
param[i][0] =z
param[i][1] =y
param[i][2:]=HelicalScan.meas_rot_ctr(x) #(bias,ampl,phase)
pass
param[i,0] =z
param[i,1] =y
param[i,2:]=HelicalScan.meas_rot_ctr(x) #(bias,ampl,phase)
(bias, ampl, phase)=param[i][2:]
pt[i]=(bias, y, z)
pt[i+2]=(bias+ampl*np.cos(phase),y, z+ampl*np.sin(phase))
obj = mpl.patches.Circle((z,bias), ampl, facecolor=mpl.colors.colorConverter.to_rgba('r', alpha=0.3))
ax.add_patch(obj)
plt3d.art3d.pathpatch_2d_to_3d(obj, z=y, zdir="z")
ax.scatter(pt[:,2], pt[:,0], pt[:,1])
ax.plot(pt[2:,2], pt[2:,0], pt[2:,1], label='zs=0, zdir=z')
print param
#self.fwd_transform(param[0][1],0.,param[0][2],param[0][1])
#plt.show()
#m=np.identity(4); horig=extAx.pltOrig(m)
m=Trf.trans((0,0,z)); horig=extAx.pltOrig(m)
#self.fwd_transform(y ,w ,cx ,cz)
# y_0 ,0deg ,x_0 ,z_0)
m=self.fwd_transform(param[0][1],0,pt[2][0],pt[2][2],extAx)
m=self.fwd_transform(param[0][1],0,pt[2][0],pt[2][2],extAx)
m=self.fwd_transform(param[0][1],20*d2r,pt[2][0],pt[2][2])
extAx.pltOrig(m)
#my_anim_func(0,horig)
a=anim.FuncAnimation(fig,my_anim_func,25,fargs=(horig,),interval=50,blit=False)
plt.show()
# y_0 ,120deg ,x_0 ,z_0)
self.fwd_transform(param[0][1],2*np.pi/3.,param[0][2],param[0][0])
#self.fwd_transform(param[1][1],0.,param[1][2],param[1][3])
def fwd_transform(self,y,w,cx,cz):
def fwd_transform(self,y,w,cx,cz,extAx):
#cx,cy: coarse stage
#input: y,w,cx,cz
#output: y,w,dx,dz
m=Trf.trans((cx,y,cz))
m=m.dot(Trf.rotY(w))
extAx.pltOrig(m)
extAx.setCenter(m[0:3,3],1)
#TODO: NOT WORKING AT ALL NOW...
param=self.param
# param[i]=(z_i, y_i, x_i, r_i,phi_i)
p=np.ndarray((param.shape[0], 3))
for i in range(2):
#p[i][0]=param[i][2]+param[i][3]*np.cos(param[i][4]+w) # x= x_i+r_i*cos(phi_i*w)+cx
p[i][0]=cx+param[i][3]*np.cos(param[i][4]+w) # x= x_i+r_i*cos(phi_i*w)+cx
p[i][1]=param[i][1] # y= y_i
#p[i][2]=param[i][2]+param[i][3]*np.sin(param[i][4]+w) # z= z_i+r_i*sin(phi_i*w)
p[i][2] =cz + param[i][3] * np.sin(param[i][4] + w) # z= z_i+r_i*sin(phi_i*w)
(z_i, y_i, x_i, r_i, phi_i)=param[i]
p[i,0]=x_i+r_i*np.cos(phi_i+w) # x= x_i+r_i*cos(phi_i+w)+cx
p[i,1]=y_i # y= y_i
p[i,2] =z_i+r_i*np.sin(phi_i+w) # z= z_i+r_i*sin(phi_i*w)
print p
v=p[1]-p[0]
v=v/np.sqrt(v.dot(v)) # v/|v|
v=v*(y-param[0][1])/(param[1][1]-param[0][1]) # v(y)=v*(v-y_0)/(y_1-y_0)
y_0=param[0][1]
y_1=param[1][1]
v=v*(y-y_0)/(y_1-y_0) # v(y)=v*(v-y_0)/(y_1-y_0)
v=p[0]+v
cz + cx
#v=v/abs(v)
print v
#
#
#
#x,y,z
#returns y,w,dx,dz
pass
return m
def inv_transform(y,phi,dx=0,dz=0):
#input: y,w,dx,dz
#output: y,w,cx,cz
m=np.identity(4)
#dx,dy: deviation from cristal center line
#ps= #x,y,z
#returns y,phi,cx,cz
@@ -135,9 +238,11 @@ class HelicalScan:
# phi phase
# bias bias value
# ampl amplitude
d2r=2*np.pi/360
t = np.arange(n)
y=ampl*np.cos(2*np.pi*(per/n*t+phi/360.))+bias
w=2*np.pi*per/n*t
y=ampl*np.cos(w+phi*d2r)+bias
plt.figure(1)
plt.subplot(311)
plt.plot(t,y,'b.-')
@@ -155,7 +260,7 @@ class HelicalScan:
t2 = np.linspace(0,2*np.pi,64)
y2=ampl*np.cos(t2+phase)+bias
plt.plot(t2,y2,'g-')
plt.stem(t/n*2*np.pi*per,y,'b-')
plt.stem(w,y,'b-')
plt.show()

272
python/helicalscan1.svg
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@@ -133,11 +133,11 @@
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