diff --git a/python/helicalscan.py b/python/helicalscan.py
index 4aa7b57..add2ea3 100755
--- a/python/helicalscan.py
+++ b/python/helicalscan.py
@@ -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()
diff --git a/python/helicalscan1.svg b/python/helicalscan1.svg
index 21b37e3..d266f78 100644
--- a/python/helicalscan1.svg
+++ b/python/helicalscan1.svg
@@ -133,11 +133,11 @@
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      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
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-     inkscape:cx="61.236951"
-     inkscape:cy="572.69075"
+     inkscape:zoom="1.3382855"
+     inkscape:cx="183.81592"
+     inkscape:cy="755.54223"
      inkscape:document-units="px"
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+     inkscape:current-layer="layer1"
      showgrid="false"
      inkscape:window-width="1871"
      inkscape:window-height="1176"
@@ -172,317 +172,319 @@
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