def update_obj(cls, args_dict, location_obj):
if location_obj is None:
raise ObjectNotExist('Location id is wrong')
if StereoCalibration.id.name not in args_dict:
raise ObjectNotExist('StereoCalibration id is wrong')
ste = StereoCalibration.get_by_id(args_dict[StereoCalibration.id.name])
if ste is None:
raise ObjectNotExist('StereoCalibration id is wrong')
ste.set_location(location_obj)
# add origin data which are not in req data
for k in StereoCalibration.__table__.columns:
if k.name in args_dict and args_dict[k.name] is not None:
if k.name == cls.l_camera_id.name:
ste.set_left_cam(args_dict[k.name])
elif k.name == cls.r_camera_id.name:
ste.set_right_cam(args_dict[k.name])
elif k.name == cls.l_cam_matrix.name or \
k.name == cls.r_cam_matrix.name or \
k.name == cls.l_dist_coeffs.name or \
k.name == cls.r_dist_coeffs.name or \
k.name == cls.rt_cam_a2_cam_b.name or \
k.name == cls.stereo_E.name or \
k.name == cls.stereo_F.name or \
k.name == cls.stereo_R.name:
setattr(ste, k.name, ste.to_uri(args_dict[k.name]))
else:
setattr(ste, k.name, args_dict[k.name])
return ste
def update_obj(cls, args_dict, loc_obj):
if SingleCalibration.id.name not in args_dict:
raise ObjectNotExist('SingleCalibration id is wrong')
sin = SingleCalibration.get_by_id(args_dict[SingleCalibration.id.name])
if sin is None:
raise ObjectNotExist('SingleCalibration id is wrong')
sin.set_location(loc_obj)
# add origin data which are not in req data
for k in SingleCalibration.__table__.columns:
if k.name in args_dict and args_dict[k.name] is not None:
if k.name == cls.camera_id.name:
sin.set_cam(args_dict[k.name])
elif k.name == cls.img_size.name:
sin.set_size(args_dict[k.name])
elif k.name == cls.n_camera_args.name or \
k.name == cls.p_camera_args.name or \
k.name == cls.n_distortion_args.name or \
k.name == cls.p_distortion_args.name or \
k.name == cls.n_toc.name or \
k.name == cls.p_toc.name or \
k.name == cls.found_mask.name or \
k.name == cls.img_pts.name or \
k.name == cls.obj_pts.name:
setattr(sin, k.name, sin.to_uri(args_dict[k.name]))
else:
setattr(sin, k.name, args_dict[k.name])
return sin
def post(self, id=None):
self.logger.info("%s: post" % __name__)
if id is None:
return self.make_http_response(
False,
'need a location id, single data should be bind to a location item'
)
try:
location_obj = LocationList.get_by_id(id)
if location_obj is None:
raise ObjectNotExist('Location id is wrong')
if OBJECT_DATA_N not in self.req_dict:
return self.make_http_response(False,
'request data is invalid')
req_obj = InverseTest.to_obj(self.req_dict[OBJECT_DATA_N],
location_obj)
if InverseTest.is_exist(req_obj):
return self.make_http_response(
False, 'InverseTest is exist, can not add any more!')
# commit the data , so id will refresh from database
InverseTest.add(req_obj, True)
location_obj.set_inv_id(req_obj.id)
LocationList.add(location_obj)
except ObjectNotExist as e:
self.logger.error(e.what())
return self.make_http_response(False, e.what())
return self.make_http_response(True, 'Add InverseTest Success!')
def to_uri(self, filename):
if filename is None:
return None
abs_path = self.location_obj.get_upload_path() + self.__class__.__name__ + '/' + filename
if not os.path.exists(abs_path):
print('set uri failed: ', abs_path)
raise ObjectNotExist("%s file is not exist, please upload first" % filename)
return DOWNLOAD_ROOT_URI + str(self.location_obj.id) + '/' + self.__class__.__name__ + '/' + filename
def update_obj(cls, args_dict):
if GenerateData.id.name not in args_dict:
raise ObjectNotExist('GenerateData id is wrong')
gen = GenerateData.get_by_id(args_dict[GenerateData.id.name])
if gen is None:
raise ObjectNotExist('GenerateData id is wrong')
# add origin data which are not in req data
for k in GenerateData.__table__.columns:
if k.name in args_dict:
if k.name == GenerateData.robot_id.name:
gen.set_robot_id(args_dict[k.name])
elif k.name == GenerateData.user_id.name:
gen.set_user_id(args_dict[k.name])
else:
setattr(gen, k.name, args_dict[k.name])
return gen
def update_obj(cls, args_dict, location_obj):
if location_obj is None:
raise ObjectNotExist('Location id is wrong')
if InverseTest.id.name not in args_dict:
raise ObjectNotExist('InverseTest id is wrong')
inv = InverseTest.get_by_id(args_dict[InverseTest.id.name])
if inv is None:
raise ObjectNotExist('InverseTest id is wrong')
inv.set_location(location_obj)
# add origin data which are not in req data
for k in InverseTest.__table__.columns:
if k.name in args_dict and args_dict[k.name] is not None:
if k.name == cls.opt_all_ik.name or \
k.name == cls.ik_err.name or \
k.name == cls.l_cam_img_pts.name or \
k.name == cls.r_cam_img_pts.name:
setattr(inv, k.name, inv.to_uri(args_dict[k.name]))
else:
setattr(inv, k.name, args_dict[k.name])
return inv
def update_obj(cls, args_dict):
if LocationList.id.name not in args_dict:
raise ObjectNotExist('LocationList id is wrong')
loc = LocationList.get_by_id(args_dict[LocationList.id.name])
if loc is None:
raise ObjectNotExist('LocationList id is wrong')
# add origin data which are not in req data
for k in LocationList.__table__.columns:
if k.name in args_dict:
if k.name == LocationList.g_id.name:
loc.set_gid(args_dict[k.name])
elif k.name == LocationList.single_ca_id.name:
loc.set_single_id(args_dict[k.name])
elif k.name == LocationList.stereo_ca_id.name:
loc.set_stereo_id(args_dict[k.name])
elif k.name == LocationList.dh_id.name:
loc.set_dh_id(args_dict[k.name])
elif k.name == LocationList.inv_id.name:
loc.set_inv_id(args_dict[k.name])
return loc
def update_obj(cls, args_dict, location_obj):
if location_obj is None:
raise ObjectNotExist('Location id is wrong')
if DH_Optimised.id.name not in args_dict:
raise ObjectNotExist('DH_Optimised id is wrong')
dh_obj = DH_Optimised.get_by_id(args_dict[DH_Optimised.id.name])
if dh_obj is None:
raise ObjectNotExist('DH_Optimised id is wrong')
dh_obj.set_location(location_obj)
# add origin data which are not in req data
for k in DH_Optimised.__table__.columns:
if k.name in args_dict and args_dict[k.name] is not None:
if k.name == cls.model.name:
dh_obj.set_model(args_dict[k.name])
elif k.name == cls.angle_offset_full.name or \
k.name == cls.joint_scale_factor.name or \
k.name == cls.refine_pixel_err.name or \
k.name == cls.robot_param.name or \
k.name == cls.tot.name or \
k.name == cls.trc.name:
setattr(dh_obj, k.name, dh_obj.to_uri(args_dict[k.name]))
else:
setattr(dh_obj, k.name, args_dict[k.name])
return dh_obj
def to_obj(cls, args_dict, location_obj):
if location_obj is None:
raise ObjectNotExist('Location id is wrong')
for k in InverseTest.__table__.columns:
if k.name not in args_dict:
args_dict[k.name] = None
new_dh = InverseTest(args_dict[InverseTest.opt_all_ik.name],
args_dict[InverseTest.ik_err.name],
args_dict[InverseTest.l_cam_img_pts.name],
args_dict[InverseTest.r_cam_img_pts.name],
args_dict[InverseTest.pixel_err.name],
args_dict[InverseTest.total_pixel_err.name],
location_obj)
return new_dh
def _save_files(self, files_dict, loc_obj, table_name, is_overwrite):
if not isinstance(files_dict, dict):
raise ObjectNotExist("File dict arg is not a type of dict")
ret_dict = {}
for k, v in files_dict.items():
ret_dict[k] = True
if not is_overwrite and loc_obj.is_own_file(v.filename):
return self.make_http_response(False, 'file %s has been upload, maybe you want to cover it')
if not v or not self._filename_check(v.filename):
ret_dict[k] = False
continue
file_path = UPLOAD_FOLDER + str(loc_obj.id) + '/' + table_name
self._mkdirs(file_path)
abs_path = file_path + '/' + v.filename
v.save(abs_path)
return self.make_http_response(True, 'upload result', msg_obj=ret_dict)
def to_obj(cls, args_dict, location_obj):
if location_obj is None:
raise ObjectNotExist('Location id is wrong')
for k in StereoCalibration.__table__.columns:
if k.name not in args_dict:
args_dict[k.name] = None
new_stereo = StereoCalibration(
args_dict[StereoCalibration.l_camera_id.name],
args_dict[StereoCalibration.r_camera_id.name],
args_dict[StereoCalibration.l_cam_matrix.name],
args_dict[StereoCalibration.r_cam_matrix.name],
args_dict[StereoCalibration.l_dist_coeffs.name],
args_dict[StereoCalibration.r_dist_coeffs.name],
args_dict[StereoCalibration.rt_cam_a2_cam_b.name],
args_dict[StereoCalibration.stereo_E.name],
args_dict[StereoCalibration.stereo_F.name],
args_dict[StereoCalibration.stereo_R.name],
args_dict[StereoCalibration.pixel_err.name], location_obj)
return new_stereo
def to_obj(cls, args_dict, location_obj):
if location_obj is None:
raise ObjectNotExist('Location id is wrong')
for k in SingleCalibration.__table__.columns:
if k.name not in args_dict:
args_dict[k.name] = None
new_single = SingleCalibration(args_dict[SingleCalibration.camera_id.name],
args_dict[SingleCalibration.n_camera_args.name],
args_dict[SingleCalibration.p_camera_args.name],
args_dict[SingleCalibration.n_distortion_args.name],
args_dict[SingleCalibration.p_distortion_args.name],
args_dict[SingleCalibration.n_toc.name],
args_dict[SingleCalibration.p_toc.name],
args_dict[SingleCalibration.n_projection_err.name],
args_dict[SingleCalibration.p_projection_err.name],
args_dict[SingleCalibration.found_mask.name],
args_dict[SingleCalibration.img_pts.name],
args_dict[SingleCalibration.img_size.name],
args_dict[SingleCalibration.obj_pts.name],
location_obj
)
return new_single
def set_cam(self, cam_id):
if not Camera.is_exist_id(cam_id):
raise ObjectNotExist("camera is not exits which id is %s" % cam_id)
self.camera_id = cam_id
def set_gid(self, id):
if not GenerateData.is_exist_id(id):
raise ObjectNotExist('enter generate data id is not exists')
self.g_id = id
def set_user_id(self, user_id):
if not User.is_exist_id(user_id):
raise ObjectNotExist('%s is not exist which id is %s' %
(User.__name__, user_id))
self.user_id = user_id
def set_robot_id(self, robot_id):
if not Robot.is_exist_id(robot_id):
raise ObjectNotExist('%s is not exist which id is %s' %
(Robot.__name__, robot_id))
self.robot_id = robot_id
def set_single_id(self, id):
if id is not None and not SingleCalibration.is_exist_id(id):
raise ObjectNotExist('enter single data id is not exists')
self.single_ca_id = id
def set_stereo_id(self, id):
if id is not None and not StereoCalibration.is_exist_id(id):
raise ObjectNotExist('enter stereo data id is not exists')
self.stereo_ca_id = id
def set_dh_id(self, id):
if id is not None and not DH_Optimised.is_exist_id(id):
raise ObjectNotExist('enter dh data id is not exists')
self.dh_id = id
def set_model(self, model):
if model not in DH_Model.__dict__.keys():
raise ObjectNotExist("mode should be one of %s" % list(DH_Model))
self.model = model
def set_inv_id(self, id):
if id is not None and not InverseTest.is_exist_id(id):
raise ObjectNotExist('enter inv data id is not exists')
self.inv_id = id