very promissing fiducial detection

swissmx.py

@@ -496,6 +496,10 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
     action.triggered.connect(self.cb_autofocus)
     self.toolBar.addAction(action)
 
+    action = QAction(icon, "Find\nFiducial", self)
+    action.triggered.connect(self.cb_find_fiducial)
+    self.toolBar.addAction(action)
+
     action = QAction(icon, "Test\nCode", self)
     action.triggered.connect(self.cb_testcode)
     self.toolBar.addAction(action)
@@ -1593,7 +1597,17 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
       #geo.autofocus(app._camera, self.tweakers['base_z'],rng=(-1, 1), n=30,saveImg=True)
       geo.autofocus(app._camera, self.tweakers['base_z'],rng=(-1, 1), n=10)
 
+  def cb_find_fiducial(self):
+      app=QApplication.instance()
+      geo=app._geometry
+      #geo.autofocus(app._camera, self.tweakers['base_z'],rng=(-1, 1), n=30,saveImg=True)
+      pos,corr=geo.find_fiducial(app._camera, sz=(210,210),brd=(20,20))
+      pass
+
   def cb_testcode(self):
+    app=QApplication.instance()
+    cfg=app._cfg
+    geo=app._geometry
     try:
       tc=self._testCode
       tc['idx']+=1
@@ -1608,13 +1622,14 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
       plt.stem(x, y)
       plt.show(block=False)
 
-    step=5
+    step=6
     if step==0:
       vb=self.vb
       vb.autoRange(items=(self._goImg,))
     elif step==1:
       testMatplotlib()
     elif step==2:
+      vb=self.vb
       grp=pg.ItemGroup()
       vb.addItem(grp)
       obj=UsrGO.Marker((100, 100), (100, 100), mode=1)
@@ -1634,15 +1649,11 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
                    0, 0, 1)
       grp.setTransform(tr)
     elif step==4:
-      app=QApplication.instance()
-      cfg=app._cfg
-      geo=app._geometry
       geo.autofocus(app._camera, self.tweakers['base_z'],rng=(-1, 1), n=30,saveImg=True)
     elif step==5:
-      app=QApplication.instance()
-      cfg=app._cfg
-      geo=app._geometry
       geo.autofocus(app._camera, self.tweakers['base_z'],rng=(-1, 1), n=10)
+    elif step==6:
+      geo.find_fiducial(app._camera)
     #print(vb.childGroup.childItems())
     pass