c_id = min(open_set, key=lambda o: open_set[o].cost + self.calc_heuristic(ngoal, open_set[o]))
时间: 2023-12-23 13:06:11 浏览: 28
这段代码应该是A*搜索算法中的一部分,用于选择下一个要扩展的节点。其中,`open_set` 是保存着待扩展节点的集合,`ngoal` 是目标节点,`self.calc_heuristic` 是计算启发式函数的方法,`open_set[o].cost` 是起始节点到节点 `o` 的实际代价。这段代码的作用是在 `open_set` 中选择一个节点,使得该节点的代价加上从该节点到目标节点的启发式估计最小。具体来说,`key=lambda o: open_set[o].cost + self.calc_heuristic(ngoal, open_set[o])` 表示用节点 `o` 的代价加上从节点 `o` 到目标节点的启发式估计作为比较的关键字,然后用 `min` 函数选出最小的那个节点。
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c_id = min(open_set, key=lambda o: open_set[o].cost + self.calc_heuristic(ngoal, open_set[o])) current = open_set[c_id]
这段代码看起来是 A* 搜索算法的一部分。其中 `open_set` 是一个字典,存储着还未被搜索到的节点,节点的键是节点的 ID,值是节点本身。`c_id` 是从 `open_set` 中选取的代价最小的节点 ID,`current` 则是选取的代价最小的节点。
在 A* 算法中,每个节点都有两个代价:从起点到该节点的实际代价 `cost` 和从该节点到目标节点的估计代价(也称启发式代价) `self.calc_heuristic(ngoal, open_set[o])`。`calc_heuristic` 函数用于计算启发式代价。在选取代价最小的节点时,会优先考虑实际代价更小的节点,如果实际代价相同,则优先考虑启发式代价更小的节点。
使用QTimer对象代替QBasicTimer对象,修改程序class MyWindow(QWidget): def init(self): super().init() self.thread_list = [] self.color_photo_dir = os.path.join(os.getcwd(), "color_photos") self.depth_photo_dir = os.path.join(os.getcwd(), "depth_photos") self.image_thread = None self.saved_color_photos = 0 # 定义 saved_color_photos 属性 self.saved_depth_photos = 0 # 定义 saved_depth_photos 属性 self.init_ui() def init_ui(self): self.ui = uic.loadUi("C:/Users/wyt/Desktop/D405界面/intelrealsense1.ui") self.open_btn = self.ui.pushButton self.color_image_chose_btn = self.ui.pushButton_3 self.depth_image_chose_btn = self.ui.pushButton_4 self.open_btn.clicked.connect(self.open) self.color_image_chose_btn.clicked.connect(lambda: self.chose_dir(self.ui.lineEdit, "color")) self.depth_image_chose_btn.clicked.connect(lambda: self.chose_dir(self.ui.lineEdit_2, "depth")) def open(self): self.profile = self.pipeline.start(self.config) self.is_camera_opened = True self.label.setText('相机已打开') self.label.setStyleSheet('color:green') self.open_btn.setEnabled(False) self.close_btn.setEnabled(True) self.image_thread = ImageThread(self.pipeline, self.color_label, self.depth_label, self.interval, self.color_photo_dir, self.depth_photo_dir, self._dgl) self.image_thread.saved_color_photos_signal.connect(self.update_saved_color_photos_label) self.image_thread.saved_depth_photos_signal.connect(self.update_saved_depth_photos_label) self.image_thread.start() def chose_dir(self, line_edit, button_type): my_thread = MyThread(line_edit, button_type) my_thread.finished_signal.connect(self.update_line_edit) self.thread_list.append(my_thread) my_thread.start()
以下是使用QTimer对象代替QBasicTimer对象的修改后的代码:
```python
from PyQt5.QtCore import QTimer
class MyWindow(QWidget):
def __init__(self):
super().__init__()
self.thread_list = []
self.color_photo_dir = os.path.join(os.getcwd(), "color_photos")
self.depth_photo_dir = os.path.join(os.getcwd(), "depth_photos")
self.image_thread = None
self.saved_color_photos = 0
self.saved_depth_photos = 0
self.init_ui()
def init_ui(self):
self.ui = uic.loadUi("C:/Users/wyt/Desktop/D405界面/intelrealsense1.ui")
self.open_btn = self.ui.pushButton
self.color_image_chose_btn = self.ui.pushButton_3
self.depth_image_chose_btn = self.ui.pushButton_4
self.open_btn.clicked.connect(self.open)
self.color_image_chose_btn.clicked.connect(lambda: self.chose_dir(self.ui.lineEdit, "color"))
self.depth_image_chose_btn.clicked.connect(lambda: self.chose_dir(self.ui.lineEdit_2, "depth"))
def open(self):
self.profile = self.pipeline.start(self.config)
self.is_camera_opened = True
self.label.setText('相机已打开')
self.label.setStyleSheet('color:green')
self.open_btn.setEnabled(False)
self.close_btn.setEnabled(True)
self.image_thread = ImageThread(self.pipeline, self.color_label, self.depth_label, self.interval, self.color_photo_dir, self.depth_photo_dir, self._dgl)
self.image_thread.saved_color_photos_signal.connect(self.update_saved_color_photos_label)
self.image_thread.saved_depth_photos_signal.connect(self.update_saved_depth_photos_label)
self.image_thread.start()
self.timer = QTimer(self) # 创建QTimer对象
self.timer.timeout.connect(self.update) # 连接timeout信号与槽函数
self.timer.start(100) # 启动定时器,间隔为100ms
def update(self):
# 检查所有的线程是否已完成,并从线程列表中移除已完成的线程
for thread in self.thread_list:
if not thread.isRunning():
self.thread_list.remove(thread)
def chose_dir(self, line_edit, button_type):
my_thread = MyThread(line_edit, button_type)
my_thread.finished_signal.connect(self.update_line_edit)
self.thread_list.append(my_thread)
my_thread.start()
def update_saved_color_photos_label(self, count):
self.saved_color_photos = count
self.ui.label_5.setText(str(self.saved_color_photos))
def update_saved_depth_photos_label(self, count):
self.saved_depth_photos = count
self.ui.label_6.setText(str(self.saved_depth_photos))
```