major fixes in coordinate systems

app_config.py

@@ -133,6 +133,11 @@ class AppCfg(QSettings):
       opt_ctr=np.array([603.28688025, 520.01112846])
       self.setValue(AppCfg.GEO_OPT_CTR, opt_ctr)
 
+    if AppCfg.DT_HOST not in keys:
+      _log.warning(f'{AppCfg.DT_HOST} not defined. use default')
+      self.setValue(AppCfg.DT_HOST,'SAR-CPPM-EXPMX1')
+      #self.setValue(AppCfg.DT_HOST,'localhost:10001:10002')
+
     #if AppCfg.ACTIVATE_PULSE_PICKER not in keys:
     #  self.setValue(AppCfg.ACTIVATE_PULSE_PICKER, False)
 
@@ -352,7 +357,7 @@ class AppCfg(QSettings):
     app=QApplication.instance()
     cfg=app._cfg
     #dt1 = cfg.value(AppCfg.DT_HOST,'SAR-CPPM-EXPMX1')
-    dt1 = cfg.value(AppCfg.DT_HOST,'localhost:10001:10002')
+    dt1 = cfg.value(AppCfg.DT_HOST)
     dt2 = cfg.value(AppCfg.DT_VEL_SCL, 1, type=float)
     dt3 = cfg.option(AppCfg.DT_SHOW_PLOTS)
 

pyqtUsrObj.py

@@ -170,7 +170,7 @@ class Fiducial(pg.ROI):
     #p.drawText(24, 20, 'beam marker')
     ctr=tuple(self.pos()+self.size()/2)
     sz=tuple(self.size())
-    print((*ctr,self._z))
+    #print((*ctr,self._z))
     #p.drawText(5, 25, 'x{:.4g}\ny{:.4g}\nz{:.4g}'.format(*ctr,self._z))
     p.drawText(52, 10,40,40,Qt.TextWordWrap, 'x{:.5g}\ny{:.5g}\nz{:.5g}'.format(*ctr,self._z))
 
@@ -504,9 +504,11 @@ class FixTargetFrame(pg.ROI):
     t=self.transform()
     p=np.array(self.pos())
     s=self.size()/self._dscr['size']
-    trf=np.array(((t.m11(),t.m12(),0),(t.m21(),t.m22(),0)))
-    trf[:,2]=p
-    trf[:,:2]*=s
+    trf=np.array(((t.m11(),t.m12()),(t.m21(),t.m22()),(0,0)))
+    trf[2,:]=p  # shift origin
+    #trf[:2, 0]*=s[0];trf[:2, 1]*=s[1] #scaling (before rotation shear)
+    trf[:2,:]=(trf[:2,:].T*s).T # same as np.asmatrix(np.diag(s))*trf[:2,:], trf[:2,:]*=s not working, scale before rot / shear
+
     # trf*'gridpos in um' -> motor pos in mm
     param['trf']=trf
     return param

swissmx.py

@@ -1363,6 +1363,8 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
       grp=self._goTracked
       cldLst=grp.childItems()
       for go in cldLst:
+        if type(go)==UsrGO.Fiducial:
+          continue
         if type(go)!=UsrGO.FixTargetFrame:
           _log.warning(f'for now: ONLY FixTargetFrame are supported ->skipped:{go}')
           continue
@@ -1383,24 +1385,36 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
         #  p[i,:]=(trf*t).A.ravel()
         # Same but much faster !
         m=np.hstack((p*pitch+pos,np.ones((p.shape[0],1))))
-        p=(trf*np.asmatrix(m).T).T.A
+        #p=(trf*np.asmatrix(m).T).T.A
+        p=(np.asmatrix(m)*trf).A
 
         # add up to 100 test fiducial
+        vb=self.vb
         grp=self._goTracked
         mft=self._moduleFixTarget
+        try:
+          tmpGoLst=self._goTmp
+        except AttributeError:
+          tmpGoLst=self._goTmp=[]
+        else:
+          for go in tmpGoLst:
+            vb.removeItem(go)
+          tmpGoLst.clear()
+
         n=int(p.shape[0]/100)+1
         for i in range(0,p.shape[0],n):
           fx,fy=p[i, :]/1000
           l=.06
           go=UsrGO.Fiducial((fx-l/2, fy-l/2), (l, l), i)
           grp.addItem(go)
-          mft._tree.setData(grp.childItems())
+          tmpGoLst.append(go)
+        mft._tree.setData(grp.childItems())
 
-        print('DEBUG: first point:')
-        print(p[0,:])
-        print('DEBUG: difference from point to point:')
-        print(np.diff(p, axis=0))
-        #self.daq_collect(**param)
+        #_log.debug(f'first point:{p[0,:]}')
+        #_log.debug(f'step to 2nd point:{p[1,:]-p[0,:]}')
+        #print('DEBUG: difference from point to point:')
+        #print(np.diff(p, axis=0))
+        self.daq_collect(**param)
 
     elif task == TASK_GRID:
       self.re_connect_collect_button(
@@ -1874,7 +1888,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
           go.setSize(sz)
 
           j=0
-      elif type(go)==UsrGO.Fiducial:
+      elif type(go)==UsrGO.Fiducial and go.size()[0]==0.12:
         ptFitTrf[j]=go.pos()+go.size()/2
         ptFitPlane[i]=go.ctr()
         i+=1;j+=1