Added heat map to tracker

pyratk/widgets/polar_tracker_widget.py

@@ -17,7 +17,7 @@ from pyratk.datatypes.geometry import Point, Circle
 
 
 class PolarTrackerWidget(pg.GraphicsLayoutWidget):
-    def __init__(self, tracker, max_range=20, moving_average_weight=0.2, trail_length=100):
+    def __init__(self, tracker, max_range=20, moving_average_weight=0.2, trail_length=150):
         super().__init__()
         """
         Initialize polar tracker widget.
@@ -70,6 +70,13 @@ class PolarTrackerWidget(pg.GraphicsLayoutWidget):
 
         # self.plot.addItem(self.radar_loc_plot)
 
+
+
+        # self.pw_trajectory = self.plot.plot()
+        self.sw_trajectory = pg.ScatterPlotItem(
+            size=25, pen=pg.mkPen(None), brush=pg.mkBrush(0, 0, 255, 10))
+        self.plot.addItem(self.sw_trajectory)
+
         # Add radar detection marker plot
         self.det_loc_plot = pg.ScatterPlotItem(
             size=10, pen=pg.mkPen(None), brush=pg.mkBrush(255, 255, 0, 255))
@@ -77,8 +84,6 @@ class PolarTrackerWidget(pg.GraphicsLayoutWidget):
 
         self.plot.addItem(self.det_loc_plot)
 
-        self.pw_trajectory = self.plot.plot()
-
         # Set up plot
         #self.plot.setLimits(yMin=0)
         self.plot.setRange(yRange=[0, self.max_range], xRange=[-self.max_range, self.max_range])
@@ -97,6 +102,7 @@ class PolarTrackerWidget(pg.GraphicsLayoutWidget):
         Draw detections on graph.
         '''
         self.det_loc_plot.clear()
+        self.sw_trajectory.clear()
         if self.tracker.detections:
             det = self.tracker.detections[0]
 
@@ -115,9 +121,11 @@ class PolarTrackerWidget(pg.GraphicsLayoutWidget):
 
                 self.trajectory.append(self.det_loc)
 
-            data = np.array([(p[0], p[1]) for p in self.trajectory[self.trail_length]])
-            trajectory_pen = pg.mkPen({'color': "FF0A", 'width': 2})
-            self.pw_trajectory.setData(data, pen=trajectory_pen)
+            data = np.array([(p[0], p[1]) for p in self.trajectory[-self.trail_length:]])
+            self.sw_trajectory.addPoints(pos=data)
+
+            # trajectory_pen = pg.mkPen({'color': "FFFA", 'width': 2})
+            # self.pw_trajectory.setData(data, pen=trajectory_pen)
 
             self.det_loc_plot.addPoints(pos=[self.det_loc])