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towards least_square_trf

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zamofing_t
2022-08-29 17:38:40 +02:00
parent 9f32dd657c
commit 011eaa3e31
3 changed files with 144 additions and 20 deletions
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50
ModuleFixTarget.py
View File

@@ -175,7 +175,7 @@ class WndFixTarget(QWidget):
self._cbType=cb=QComboBox()
#cb.addItem("C")
#cb.addItem("C++")
cb.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)"])
#cb.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)"])
#cb.currentIndexChanged.connect(self.selectionchange)
@@ -191,6 +191,9 @@ class WndFixTarget(QWidget):
self._btnDelAll=btnDelAll = QPushButton("del all")
#btnDelAll.clicked.connect(lambda x: _log.warning("TODO: IMPLEMENT") )
bl.addWidget(btnDelAll, 2, 2,1,1)
self._btnFit=btnFit = QPushButton("fit with fiducials")
#btnDelAll.clicked.connect(lambda x: _log.warning("TODO: IMPLEMENT") )
bl.addWidget(btnFit, 2, 1,1,1)
@@ -267,21 +270,25 @@ class WndFixTarget(QWidget):
data_folder=''
if filename is None:
filename, _ = QFileDialog.getOpenFileName(self,"Load data file",None,
"json files (*.json);;yaml files (*.yaml);;pickle files (*.pkl);;text files (*.txt);;all files (*)",)
"json files (*.json);;all files (*)",)
#"json files (*.json);;yaml files (*.yaml);;pickle files (*.pkl);;text files (*.txt);;all files (*)",)
if not filename: # cancelled dialog
return
ext=filename.rsplit('.',1)[1].lower()
if ext=='pkl':
with open(filename, 'rb') as f:
data=pickle.load(f)
if ext=='yaml':
with open(filename, 'r') as f:
data = yaml.load(f)
elif ext=='json':
if ext=='json':
with open(filename, 'r') as f:
data=json.load(f,object_hook=MyJsonDecoder)
print(data)
else:
raise(IOError('unsupported file type'))
#elif ext=='yaml':
# with open(filename, 'r') as f:
# data = yaml.load(f)
#elif ext=='pkl':
# with open(filename, 'rb') as f:
# data=pickle.load(f)
self._data=data
self._tree.setData(data)
try:
@@ -354,7 +361,8 @@ class WndFixTarget(QWidget):
data_folder=''
if filename is None:
filename, _ = QFileDialog.getSaveFileName(self,"Save data file",data_folder,
"json files (*.json);;yaml files (*.yaml);;pickle files (*.pkl);;text files (*.txt);;all files (*)",)
"json files (*.json);;all files (*)",)
#"json files (*.json);;yaml files (*.yaml);;pickle files (*.pkl);;text files (*.txt);;all files (*)",)
if not filename:
return
@@ -365,16 +373,18 @@ class WndFixTarget(QWidget):
#df.to_csv(filename, float_format="%.6f")
#import numpy as np
ext=filename.rsplit('.',1)[1].lower()
if ext=='pkl':
with open(filename, 'wb') as f:
pickle.dump(self._data, f)
elif ext=='yaml':
with open(filename, 'w') as f:
yaml.dump(self._data, f)
elif ext=='json':
if ext=='json':
with open(filename, 'w') as f:
json.dump(self._data, f,cls=MyJsonEncoder, indent=2)#separators=(',', ':')
print(self._data)
else:
raise(IOError('unsupported file type'))
#elif ext=='yaml':
# with open(filename, 'w') as f:
# yaml.dump(self._data, f)
#elif ext=='pkl':
# with open(filename, 'wb') as f:
# pickle.dump(self._data, f)
#print(self._data)
def delete_selected(self):
row = self._current_row
@@ -729,7 +739,7 @@ void itemSelectionChanged()
if __name__ == "__main__":
import sys
class Monster(yaml.YAMLObject):
class Monster:
yaml_tag = u'!Monster'
def __init__(self, name, hp, ac, attacks):
self.name = name

81
geometry.py
View File

@@ -267,6 +267,56 @@ class geometry:
# returns the vector m(x,y) of the optical center to the xray
pass
@staticmethod
def least_square_trf(points):
# inputs are 4 points of a parallelogram
# this function returns the least square transformation
#[ px] [a b c ] [ q ]
#[ py] =[d e f ]*[ r ]
# [0 0 1 ] [ 1 ]
# with (q,r) in [0,0],[0,1],[1,0],[1,1]
# a b c d e f
# [q00 r00 1 0 0 0 ] [a] [px00]
# [0 0 0 q00 r00 1 ] [b] [py00]
# [q01 r01 1 0 0 0 ]*[c]=[px01]
# [0 0 0 q01 r01 1 ] [d] [py01]
# [q10 r10 1 0 0 0 ] [e] [px10]
# [0 0 0 q10 r10 1 ] [f] [py10]
# [q11 r11 1 0 0 0 ] [px11]
# [0 0 0 q11 r11 1 ] [py11]
#
# A *aa = y
A=np.array((
(0,0,1,0,0,0),
(0,0,0,0,0,1),
(0,1,1,0,0,0),
(0,0,0,0,1,1),
(1,0,1,0,0,0),
(0,0,0,1,0,1),
(1,1,1,0,0,0),
(0,0,0,1,1,1)), np.float)
y=points # sort points p00 p01 p10 p11
s=y[:,1].argsort()
y=y[s,:]
s=y[:2,0].argsort()
y[:2,:]=y[:2,:][s,:]
s=y[2:,0].argsort()
y[2:,:]=y[2:,:][s,:]
y=np.asmatrix(y.ravel()).T
A=np.asmatrix(A)
aa=(A.T*A).I*A.T*y
aa=aa.reshape((2,3))
return aa
@staticmethod
def least_square_plane(points):
#inputs are multiple (x,y,z) points
# this function returns the parameters of least square fitted plane x=x,y=y,z=ax+bx+c
pass
if __name__=="__main__":
import argparse
@@ -408,4 +458,35 @@ if __name__=="__main__":
obj.update_optical_center(opt_ctr_meas, True)
if args.mode&0x04:
pts=np.array([[ -633.75367631, -561.87640769],
[ -636.87852469, -258.90639846],
[-1098.22395446, -351.56498398],
[-1096.62487933, -694.59151602]])
pts=np.array([[-699.81571798, -700.30880259],
[-700.33262571, -500.3524493],
[-1000.63771992, -501.08112667],
[-999.69062995, -701.32290775]])
pts=np.array([[10,15],
[40, 35],
[10, 35],
[40, 15]])
pts=-pts
for p in pts:
print(p)
trf=geometry.least_square_trf(pts)
for p in ((0,0),(0,1),(1,0),(1,1)):
fit=(trf*np.matrix((p[0],p[1],1)).T).A.ravel()
print(p,fit)
if args.mode&0x08:
pts=np.array([[3.95620203, 3.17424935, 3.1415],
[3.92067666, 2.43961212, 3.1415],
[2.80894834, 2.71536886, 3.1415],
[2.84446241, 3.54734879, 3.1415]])
plane=geometry.least_square_plane(pts)

33
swissmx.py
View File

@@ -1541,8 +1541,12 @@ class SwissMxWnd(QMainWindow, Ui_MainWindow):
self._moduleFixTarget =mft = ModuleFixTarget.WndFixTarget(self,data)
tab = self._tabs_daq_methods.insertTab(0,mft,'Fix Target')
self._tabs_daq_methods.setCurrentWidget(mft) #set this as the active tabs
mft._cbType.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)"])
mft._btnAdd.clicked.connect(self.module_fix_target_add_obj)
mft._btnDelAll.clicked.connect(self.module_fix_target_del_all_obj)
mft._btnFit.clicked.connect(self.module_fix_target_fit_fiducial)
#tab.layout().addWidget(mft)
mft.prefixSelected.connect(lambda prefix: self._le_prefix.setText(prefix))
@@ -1659,6 +1663,35 @@ class SwissMxWnd(QMainWindow, Ui_MainWindow):
objLst.clear()
mft._tree.setData(objLst)
def module_fix_target_fit_fiducial(self):
mft=self._moduleFixTarget
vb=self.vb
objLst=self._goTracked['objLst']
n=0
for go in objLst:
if type(go)==UsrGO.Fiducial:
n+=1
ptFitTrf=np.ndarray((4,2)) # 4 (x,y) points to fit a transformation of a parallelogram
ptFitPlane=np.ndarray((n,3)) #n (x,y,z) points to fit a plane transformation z=ax+by+c
i=j=0
for go in reversed(objLst):
if type(go)==UsrGO.FixTargetFrame:
if j==4:
trf=geometry.geometry.least_square_trf(ptFitTrf)
tr=go.transform()
tr.setMatrix(100, 0, 0,
0, 100, 0,
0, 0, 1)
go.setTransform(tr)
go.setPos(trf[:,2])
go.setSize((1,1))
j=0
elif type(go)==UsrGO.Fiducial:
ptFitTrf[j]=go.pos()+go.size()/2
ptFitPlane[i]=go._xyz
i+=1;j+=1
plane=geometry.geometry.least_square_plane(ptFitPlane)
# **************** OBSOLETE AND/OR OLD STUFF ****************