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import sys
from PySide.QtCore import *
from PySide.QtGui import *
import pybayes as pb
import numpy as np
_A=np.array([[1.]])
_C=np.array([[1.]])
_Q=np.array([[1.]])
_R=np.array([[1.]])
s_pdf=pb.GaussPdf(np.array([1.]), np.array([[1.]]))
kf=pb.KalmanFilter(A=_A,C=_C,Q=_Q,R=_R,state_pdf=s_pdf)
p=kf.posterior()
def update(x):
kf.bayes(np.array([x]))
return p.mean()[0],p.variance()[0]
class Ui_Dialog(object):
def setupUi(self, Dialog):
Dialog.setObjectName("Dialog")
Dialog.resize(320, 205)
self.pushButton = QPushButton(Dialog)
self.pushButton.setGeometry(QRect(210, 160, 75, 25))
self.pushButton.setObjectName("pushButton")
self.textBrowser = QTextBrowser(Dialog)
self.textBrowser.setGeometry(QRect(10, 10, 300, 131))
self.textBrowser.setObjectName("textBrowser")
self.textEdit = QTextEdit(Dialog)
self.textEdit.setGeometry(QRect(35, 160, 100, 25))
self.textEdit.setObjectName("textEdit")
self.retranslateUi(Dialog)
QMetaObject.connectSlotsByName(Dialog)
def retranslateUi(self, Dialog):
Dialog.setWindowTitle(QApplication.translate("Dialog", "卡尔曼滤波器", None, QApplication.UnicodeUTF8))
self.pushButton.setText(QApplication.translate("Dialog", "更新", None, QApplication.UnicodeUTF8))
class MainUi(QDialog,Ui_Dialog):
def __init__(self,parent = None):#parent默认为0
super(MainUi,self).__init__(parent)#固定形式
self.setupUi(self)
self.connectSlot()
def connectSlot(self):#连接逻辑和界面
#self.textEdit.textChanged.connect(self.changeWord)#同步textEdit和textBrowser的内容
self.pushButton.clicked.connect(self.changeWord)
def clearText(self):
self.textEdit.setText("")
def changeWord(self):#更改textBrowse显示内容
mean,var=update(float(self.textEdit.toPlainText()))
_text = "<font color = blue>"+u"滤波值:%f<br />方差:%f"%(mean,var)+"</font>"
self.textBrowser.setText(_text)
def main():
app = QApplication(sys.argv)
ui = MainUi()#没有给parent赋值
ui.show()
sys.exit(app.exec_())
if __name__ == '__main__':
main()
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