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Split out matix calculations from CSM, and continue testing recentre

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This commit is contained in:
Julian Stirling 2025-11-05 00:15:30 +00:00
parent c659a556cc
commit a5a372b6c0
3 changed files with 122 additions and 14 deletions
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17
src/openflexure_microscope_server/things/camera_stage_mapping.py
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@ -31,8 +31,9 @@ from camera_stage_mapping.exceptions import MappingError
import labthings_fastapi as lt
from labthings_fastapi.types.numpy import DenumpifyingDict
from camera_stage_mapping.camera_stage_tracker import Tracker
from openflexure_microscope_server.utilities import apply_2d_matrix_to_mapping
from .camera import CameraDependency as CameraClient
from .stage import StageDependency as Stage
@ -218,8 +219,8 @@ class CameraStageMapper(lt.Thing):
.. code-block:: python
stage_disp = np.dot(
np.array(image_to_stage_displacement_matrix),
np.array([dy,dx]),
np.array(image_to_stage_displacement_matrix),
)
"""
@ -281,22 +282,20 @@ class CameraStageMapper(lt.Thing):
) -> Mapping[str, int]:
"""Convert image coordinates to stage coordinates. Only x and y are returned."""
self.assert_calibrated()
relative_move: np.ndarray = np.dot(
np.array([y, x]), np.array(self.image_to_stage_displacement_matrix)
return apply_2d_matrix_to_mapping(
self.image_to_stage_displacement_matrix, x=x, y=y, to_int=True
)
return {"x": int(relative_move[0]), "y": int(relative_move[1])}
@lt.thing_action
def convert_stage_to_image_coordinates(
self, x: float, y: float, **_kwargs: float
) -> Mapping[str, int]:
self, x: int, y: int, **_kwargs: int
) -> Mapping[str, float]:
"""Convert stage coordinates to image coordinates. Only x and y are returned."""
self.assert_calibrated()
inverse_matrix = np.linalg.inv(
np.array(self.image_to_stage_displacement_matrix)
)
relative_move = np.dot(np.array([x, y]), inverse_matrix)
return {"x": int(relative_move[1]), "y": int(relative_move[0])}
return apply_2d_matrix_to_mapping(inverse_matrix, x=x, y=y, to_int=False)
@lt.thing_property
def thing_state(self) -> Mapping[str, Any]: