major fixes in coordinate systems

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