Added trail to polar plotting widget

pyratk/trackers/aps_tracker.py

@@ -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

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=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 ===================================================