fixing coordinate transformation

pyqtUsrObj.py

@@ -575,22 +575,26 @@ class FixTargetFrame(UsrROI):
     param={'grid':grid, 'points':pts, 'code_gen': self.code_gen}
 
     # TODO: simplify !!!
-    t=self.transform()
+    t=self.transform() #obj_info(t)
     p=np.array(self.pos())
     s=self.size()/self._dscr['size']
     trf=np.array(((t.m11(),t.m12()),(t.m21(),t.m22()),(0,0)))
     trf[2,:]=p  # shift origin
     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
     pos=np.array(param['grid']['pos'])  # in um
     pitch=np.array(param['grid']['pitch'])  # in um
     trf2=np.asmatrix(np.identity(3))
     trf2[:, :2]=trf
-    trf2*=np.asmatrix(((-1000, 0, 0), (0, 1000, 0), (0, 0, 1)))
+    trf2*=np.asmatrix(((1000, 0, 0), (0, 1000, 0), (0, 0, 1)))
     trf3=np.asmatrix(((pitch[0], 0, 0), (0, pitch[1], 0), (pos[0], pos[1], 1)))
     trf=(trf3*trf2)[:, :2]
     param['trf']=trf
+    # trf*'gridpos' -> motor pos in mm
+    # {'pos': [2080, 2080], 'pitch': [120, 120], 'count': [162, 162]}
+    #np.array((0,0,1))*trf grid 0,0 (top left)
+    #np.array((161,0,1))*trf # grid 161,0 (top right)
+    #np.array((161,161,1))*trf # grid 161,161 (bottom right)
     return param