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Commit f3cae7a7 authored by Merlo, Jason's avatar Merlo, Jason
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Added trail to polar plotting widget

parent 723bd18d
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......@@ -70,7 +70,7 @@ class ApsTracker(object):
self.max_range[1] += (np.abs(self.max_freq[1] * 3e8/self.chirp_rate/2) - 2.47) * self.weight
theta = np.arcsin((self.max_range[0] - self.max_range[1]) / self.baseline) + np.pi * 0.5
R = np.average(self.max_range) * 0.5
R = np.average(self.max_range)
# loc is cylindrical (R, theta, Z), but Z is ignored by plot
#R = np.random.rand() * 15
......
......@@ -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=1.0):
def __init__(self, tracker, max_range=20, moving_average_weight=0.2, trail_length=100):
super().__init__()
"""
Initialize polar tracker widget.
......@@ -44,6 +44,10 @@ class PolarTrackerWidget(pg.GraphicsLayoutWidget):
self.det_loc = Point()
self.trail_length = trail_length
self.trajectory = []
# Add plots to layout
self.plot = self.addPlot()
......@@ -70,8 +74,11 @@ class PolarTrackerWidget(pg.GraphicsLayoutWidget):
self.det_loc_plot = pg.ScatterPlotItem(
size=10, pen=pg.mkPen(None), brush=pg.mkBrush(255, 255, 0, 255))
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])
......@@ -106,11 +113,17 @@ class PolarTrackerWidget(pg.GraphicsLayoutWidget):
print('PolarTrackerWidget(): det_loc', self.det_loc)
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)
self.det_loc_plot.addPoints(pos=[self.det_loc])
def reset(self):
# self.tracker.reset()
self.trajectory = []
self.update()
# === UTILITY FUNCTIONS ===================================================
......
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