major fixes in coordinate systems

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