Source code for dodal.devices.oav.oav_calculations

import numpy as np


[docs] def camera_coordinates_to_xyz( horizontal: float, vertical: float, omega: float, microns_per_i_pixel: float, microns_per_j_pixel: float, ) -> np.ndarray: """ Converts from (horizontal,vertical) pixel measurements from the OAV camera into to (x, y, z) motor coordinates in millmeters. For an overview of the coordinate system for I03 see https://github.com/DiamondLightSource/hyperion/wiki/Gridscan-Coordinate-System. Args: horizontal (float): A i value from the camera in pixels. vertical (float): A j value from the camera in pixels. omega (float): The omega angle of the smargon that the horizontal, vertical measurements were obtained at. microns_per_i_pixel (float): The number of microns per i pixel, adjusted for the zoom level horizontal was measured at. microns_per_j_pixel (float): The number of microns per j pixel, adjusted for the zoom level vertical was measured at. """ # Convert the vertical and horizontal into mm. horizontal *= microns_per_i_pixel * 1e-3 vertical *= microns_per_j_pixel * 1e-3 # +ve x in the OAV camera becomes -ve x in the smargon motors. x = -horizontal # Rotating the camera causes the position on the vertical horizontal to change by raising or lowering the centre. # We can negate this change by multiplying sin and cosine of the omega. radians = np.radians(omega) cosine = np.cos(radians) sine = np.sin(radians) # +ve y in the OAV camera becomes -ve y in the smargon motors/ y = -vertical * cosine z = vertical * sine return np.array([x, y, z], dtype=np.float64)
[docs] def calculate_beam_distance( beam_centre: tuple[int, int], horizontal_pixels: int, vertical_pixels: int, ) -> tuple[int, int]: """ Calculates the distance between the beam centre and the given (horizontal, vertical). Args: horizontal_pixels (int): The x (camera coordinates) value in pixels. vertical_pixels (int): The y (camera coordinates) value in pixels. Returns: The distance between the beam centre and the (horizontal, vertical) point in pixels as a tuple (horizontal_distance, vertical_distance). """ beam_x, beam_y = beam_centre return ( beam_x - horizontal_pixels, beam_y - vertical_pixels, )