class MusicObject(sql_object.Model, BaseObject):
__tablename__ = 'MusicObject'
id = sql_object.Column(sql_object.String(32), primary_key=True)
name = sql_object.Column(sql_object.String(128),
unique=False,
nullable=False)
singer = sql_object.Column(sql_object.String(128),
nullable=True,
unique=False)
def __init__(self, id, use_type, producer):
BaseObject.__init__(self)
self._set_data(id, use_type, producer)
def _set_data(self, id, use_type, producer):
self.id = id
self.use_type = use_type
self.producer = producer
@classmethod
def to_obj(cls, args_dict):
for k in MusicObject.__table__.columns:
if k.name not in args_dict:
args_dict[k.name] = None
new_cam = MusicObject(args_dict[MusicObject.id.name],
args_dict[MusicObject.use_type.name],
args_dict[MusicObject.producer.name])
return new_cam
class User(sql_object.Model, BaseObject):
__tablename__ = 'User'
id = sql_object.Column(sql_object.Integer, primary_key=True)
account = sql_object.Column(sql_object.String(32),
unique=True,
nullable=False)
password = sql_object.Column(sql_object.String(128), nullable=False)
nickname = sql_object.Column(sql_object.String(32),
unique=True,
nullable=False)
# icon_id = Column(Integer, unique=True, default=-1, ForeignKey('ICon.id'))
def __init__(self, account, password, nickname):
BaseObject.__init__(self)
self._set_data(account, password, nickname)
def _set_data(self, account, password, nickname):
self.account = account
self.set_password(password)
self.nickname = nickname
def check_password(self, password):
return check_password_hash(self.password, password)
def set_password(self, password):
self.password = generate_password_hash(password)
return True
@classmethod
def is_exist(cls, db_obj):
id_ret = cls.query.filter(cls.id == db_obj.id).first()
acc_ret = cls.query.filter(cls.account == db_obj.account).first()
if id_ret is None and acc_ret is None:
print("false----: %s" % db_obj.id)
return False
print("true----: %s" % db_obj.id)
return True
@classmethod
def get_by_account(cls, account):
return cls.query.filter(cls.account == account).first()
@classmethod
def get_by_nickname(cls, nickname):
return cls.query.filter(cls.nickname == nickname).first()
def to_dict(self, obj):
pass
@classmethod
def to_obj(cls, package):
dict_package = eval(package)
print(">>>>>>", dict_package)
# if isinstance(obj_class, User):
req_msg = dict_package[OBJECT_DATA_N]
new_obj = User(req_msg[ACCOUNT_N], req_msg[PASSWORD_N],
req_msg[NICKNAME_N])
print(new_obj.id, new_obj.account, new_obj.password, new_obj.nickname)
return new_obj
class GenerateData(sql_object.Model, BaseObject):
__tablename__ = 'GenerateData'
id = sql_object.Column(sql_object.Integer, primary_key=True)
robot_id = sql_object.Column(sql_object.String(32),
sql_object.ForeignKey('Robot.id'),
nullable=False)
user_id = sql_object.Column(sql_object.Integer,
sql_object.ForeignKey('User.id'),
nullable=False)
pic_date = sql_object.Column(sql_object.DateTime,
nullable=True,
unique=False)
dh_date = sql_object.Column(sql_object.DateTime,
nullable=True,
unique=False)
fb_date = sql_object.Column(sql_object.DateTime,
nullable=True,
unique=False)
def __init__(self,
robot_id,
user_id,
pic_date=None,
dh_date=None,
fb_date=None):
BaseObject.__init__(self)
self.location_list = []
self._set_data(robot_id, user_id, pic_date, dh_date, fb_date)
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_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_data(self,
robot_id,
user_id,
pic_date=None,
dh_date=None,
fb_date=None):
self.set_robot_id(robot_id)
self.set_user_id(user_id)
self.pic_date = pic_date
self.dh_date = dh_date
self.fb_date = fb_date
# def _init_location(self):
# SingleCalibration.query.filter(self.id == SingleCalibration.g_id)
@classmethod
def to_obj(cls, args_dict):
for k in GenerateData.__table__.columns:
if k.name not in args_dict:
args_dict[k.name] = None
new_cam = GenerateData(args_dict[GenerateData.robot_id.name],
args_dict[GenerateData.user_id.name],
args_dict[GenerateData.pic_date.name],
args_dict[GenerateData.dh_date.name],
args_dict[GenerateData.fb_date.name])
return new_cam
@classmethod
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
class InverseTest(sql_object.Model, BaseObject):
__tablename__ = 'InverseTest'
id = sql_object.Column(sql_object.Integer, primary_key=True)
opt_all_ik = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
ik_err = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
l_cam_img_pts = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
r_cam_img_pts = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
pixel_err = sql_object.Column(sql_object.Float(20, 10),
nullable=True,
unique=False)
total_pixel_err = sql_object.Column(sql_object.Float(20, 10),
nullable=True,
unique=False)
def __init__(self,
opt_all_ik=None,
ik_err=None,
l_cam_img_pts=None,
r_cam_img_pts=None,
pixel_err=None,
total_pixel_err=None,
loc_obj=None):
BaseObject.__init__(self)
self.set_location(loc_obj)
self._set_data(opt_all_ik, ik_err, l_cam_img_pts, r_cam_img_pts,
pixel_err, total_pixel_err)
def _set_data(self,
opt_all_ik=None,
ik_err=None,
l_cam_img_pts=None,
r_cam_img_pts=None,
pixel_err=None,
total_pixel_err=None):
self.opt_all_ik = self.to_uri(opt_all_ik)
self.ik_err = self.to_uri(ik_err)
self.l_cam_img_pts = self.to_uri(l_cam_img_pts)
self.r_cam_img_pts = self.to_uri(r_cam_img_pts)
self.pixel_err = pixel_err
self.total_pixel_err = total_pixel_err
@classmethod
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
@classmethod
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 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 set_location(self, loc_obj):
self.location_obj = loc_obj
class DH_Optimised(sql_object.Model, BaseObject):
__tablename__ = 'DH_Optimised'
id = sql_object.Column(sql_object.Integer, primary_key=True)
model = sql_object.Column(sql_object.Enum(DH_Model),
nullable=False,
unique=False)
angle_offset_full = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
joint_scale_factor = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
refine_pixel_err = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
robot_param = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
tot = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
trc = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
a_offset_six_param = sql_object.Column(sql_object.Float(20, 10),
nullable=True,
unique=False)
c_offset_six_param = sql_object.Column(sql_object.Float(20, 10),
nullable=True,
unique=False)
def __init__(self,
model,
angle_offset_full=None,
joint_scale_factor=None,
refine_pixel_err=None,
robot_param=None,
tot=None,
trc=None,
a_offset_six_param=None,
c_offset_six_param=None,
loc_obj=None):
BaseObject.__init__(self)
self.set_location(loc_obj)
self._set_data(model, angle_offset_full, joint_scale_factor,
refine_pixel_err, robot_param, tot, trc,
a_offset_six_param, c_offset_six_param)
def _set_data(self,
model,
angle_offset_full=None,
joint_scale_factor=None,
refine_pixel_err=None,
robot_param=None,
tot=None,
trc=None,
a_offset_six_param=None,
c_offset_six_param=None):
self.set_model(model)
self.angle_offset_full = self.to_uri(angle_offset_full)
self.joint_scale_factor = self.to_uri(joint_scale_factor)
self.refine_pixel_err = self.to_uri(refine_pixel_err)
self.robot_param = self.to_uri(robot_param)
self.tot = self.to_uri(tot)
self.trc = self.to_uri(trc)
self.a_offset_six_param = self.to_uri(a_offset_six_param)
self.c_offset_six_param = self.to_uri(c_offset_six_param)
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 set_location(self, loc_obj):
self.location_obj = loc_obj
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
@classmethod
def to_obj(cls, args_dict, location_obj):
for k in DH_Optimised.__table__.columns:
if k.name not in args_dict:
args_dict[k.name] = None
new_dh = DH_Optimised(args_dict[DH_Optimised.model.name],
args_dict[DH_Optimised.angle_offset_full.name],
args_dict[DH_Optimised.joint_scale_factor.name],
args_dict[DH_Optimised.refine_pixel_err.name],
args_dict[DH_Optimised.robot_param.name],
args_dict[DH_Optimised.tot.name],
args_dict[DH_Optimised.trc.name],
args_dict[DH_Optimised.a_offset_six_param.name],
args_dict[DH_Optimised.c_offset_six_param.name],
location_obj)
return new_dh
@classmethod
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
class SingleCalibration(sql_object.Model, BaseObject):
__tablename__ = 'SingleCalibration'
id = sql_object.Column(sql_object.Integer, primary_key=True)
camera_id = sql_object.Column(sql_object.String(32), sql_object.ForeignKey('Camera.id'), nullable=False)
n_camera_args = sql_object.Column(sql_object.String(256), nullable=True, unique=False)
p_camera_args = sql_object.Column(sql_object.String(256), nullable=True, unique=False)
n_distortion_args = sql_object.Column(sql_object.String(256), nullable=True, unique=False)
p_distortion_args = sql_object.Column(sql_object.String(256), nullable=True, unique=False)
n_toc = sql_object.Column(sql_object.String(256), nullable=True, unique=False)
p_toc = sql_object.Column(sql_object.String(256), nullable=True, unique=False)
n_projection_err = sql_object.Column(sql_object.Float(20, 10), nullable=True, unique=False)
p_projection_err = sql_object.Column(sql_object.Float(20, 10), nullable=True, unique=False)
found_mask = sql_object.Column(sql_object.String(256), nullable=True, unique=False)
img_pts = sql_object.Column(sql_object.String(256), nullable=True, unique=False)
img_size = sql_object.Column(sql_object.String(256), nullable=True, unique=False)
obj_pts = sql_object.Column(sql_object.String(256), nullable=True, unique=False)
def __init__(self, camera_id, n_camera_args=None, p_camera_args=None, n_distortion_args=None,
p_distortion_args=None, n_toc=None, p_toc=None, n_projection_err=None, p_projection_err=None,
found_mask=None, img_pts=None, img_size=None, obj_pts=None, location_obj=None):
BaseObject.__init__(self)
self.set_location(location_obj)
self._set_data(camera_id, n_camera_args, p_camera_args, n_distortion_args, p_distortion_args, n_toc,
p_toc, n_projection_err, p_projection_err, found_mask, img_pts, img_size, obj_pts)
def _set_data(self, camera_id, n_camera_args=None, p_camera_args=None, n_distortion_args=None,
p_distortion_args=None, n_toc=None, p_toc=None, n_projection_err=None, p_projection_err=None,
found_mask=None, img_pts=None, img_size=None, obj_pts=None):
self.set_cam(camera_id)
self.n_camera_args = self.to_uri(n_camera_args)
self.p_camera_args = self.to_uri(p_camera_args)
self.n_distortion_args = self.to_uri(n_distortion_args)
self.p_distortion_args = self.to_uri(p_distortion_args)
self.n_toc = self.to_uri(n_toc)
self.p_toc = self.to_uri(p_toc)
self.n_projection_err = n_projection_err
self.p_projection_err = p_projection_err
self.found_mask = self.to_uri(found_mask)
self.img_pts = self.to_uri(img_pts)
self.set_size(img_size)
self.obj_pts = self.to_uri(obj_pts)
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 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_size(self, size_arr):
self.img_size = str(size_arr)
def set_location(self, loc_obj):
self.location_obj = loc_obj
@classmethod
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
@classmethod
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
class StereoCalibration(sql_object.Model, BaseObject):
__tablename__ = 'StereoCalibration'
id = sql_object.Column(sql_object.Integer, primary_key=True)
l_camera_id = sql_object.Column(sql_object.String(32),
sql_object.ForeignKey('Camera.id'),
nullable=True)
r_camera_id = sql_object.Column(sql_object.String(32),
sql_object.ForeignKey('Camera.id'),
nullable=True)
l_cam_matrix = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
r_cam_matrix = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
l_dist_coeffs = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
r_dist_coeffs = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
rt_cam_a2_cam_b = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
stereo_E = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
stereo_F = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
stereo_R = sql_object.Column(sql_object.String(256),
nullable=True,
unique=False)
pixel_err = sql_object.Column(sql_object.Float(20, 10),
nullable=True,
unique=False)
def __init__(self,
l_camera_id,
r_camera_id,
l_cam_matrix=None,
r_cam_matrix=None,
l_dist_coeffs=None,
r_dist_coeffs=None,
rt_cam_a2_cam_b=None,
stereo_e=None,
stereo_f=None,
stereo_r=None,
pixel_err=None,
loc_obj=None):
BaseObject.__init__(self)
self.set_location(loc_obj)
self._set_data(l_camera_id, r_camera_id, l_cam_matrix, r_cam_matrix,
l_dist_coeffs, r_dist_coeffs, rt_cam_a2_cam_b, stereo_e,
stereo_f, stereo_r, pixel_err, loc_obj)
def _set_data(self,
l_camera_id,
r_camera_id,
l_cam_matrix=None,
r_cam_matrix=None,
l_dist_coeffs=None,
r_dist_coeffs=None,
rt_cam_a2_cam_b=None,
stereo_e=None,
stereo_f=None,
stereo_r=None,
pixel_err=None,
loc_obj=None):
self.set_left_cam(l_camera_id)
self.set_right_cam(r_camera_id)
if loc_obj is not None:
self.l_cam_matrix = self.to_uri(l_cam_matrix)
self.r_cam_matrix = self.to_uri(r_cam_matrix)
self.l_dist_coeffs = self.to_uri(l_dist_coeffs)
self.r_dist_coeffs = self.to_uri(r_dist_coeffs)
self.rt_cam_a2_cam_b = self.to_uri(rt_cam_a2_cam_b)
self.stereo_E = self.to_uri(stereo_e)
self.stereo_F = self.to_uri(stereo_f)
self.stereo_R = self.to_uri(stereo_r)
self.pixel_err = pixel_err
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 set_left_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.l_camera_id = cam_id
def set_right_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.r_camera_id = cam_id
def set_location(self, loc_obj):
self.location_obj = loc_obj
@classmethod
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
@classmethod
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