Add support for returning file list and multi-thread download

.gitignore

@@ -1,3 +1,6 @@
+# Local
+local/
+
 # Byte-compiled / optimized / DLL files
 __pycache__/
 *.py[cod]

examples/multi_thread_download_example.py

@@ -0,0 +1,30 @@
+# General imports.
+import sys
+
+# Local imports.
+sys.path.append('..')
+import tartanair as ta
+
+# Create a TartanAir object.
+tartanair_data_root = '/my/path/to/root/folder/for/tartanair-v2'
+
+ta.init(tartanair_data_root)
+
+# Download data from following environments.
+env = [ "Prison",
+        "Ruins",
+        "UrbanConstruction",
+]
+
+ta.download_multi_thread(env = env, 
+              difficulty = ['easy', 'hard'], 
+              modality = ['image', 'depth'],  
+              camera_name = ['lcam_front', 'lcam_right', 'lcam_back', 'lcam_left', 'lcam_top', 'lcam_bottom'], 
+              unzip = True,
+              num_workers = 8)
+
+# To download the entire dataset
+alldata = ta.get_all_data() # this fill in all available data for env, difficulty, modality and camera_name
+ta.download_multi_thread(**alldata, 
+                            unzip = True,
+                            num_workers = 8)

tartanair/downloader.py

@@ -14,6 +14,8 @@
 # Local imports.
 from .tartanair_module import TartanAirModule, print_error, print_highlight, print_warn
 from os.path import isdir, isfile, join
+from concurrent.futures import ThreadPoolExecutor, as_completed
+import time
 
 class AirLabDownloader(object):
     def __init__(self, bucket_name = 'tartanair2') -> None:
@@ -23,38 +25,38 @@ def __init__(self, bucket_name = 'tartanair2') -> None:
         access_key = "4e54CkGDFg2RmPjaQYmW"
         secret_key = "mKdGwketlYUcXQwcPxuzinSxJazoyMpAip47zYdl"
 
-        self.client = Minio(endpoint_url, access_key=access_key, secret_key=secret_key, secure=False)
+        self.client = Minio(endpoint_url, access_key=access_key, secret_key=secret_key, secure=True)
         self.bucket_name = bucket_name
 
-    def download(self, filelist, destination_path):
-        target_filelist = []
-        for source_file_name in filelist:
-            target_file_name = join(destination_path, source_file_name.replace('/', '_'))
-            target_filelist.append(target_file_name)
+    def download(self, filelist, targetfilelist):
+        success_source_files, success_target_files = [], []
+        for source_file_name, target_file_name in zip(filelist, targetfilelist):
             print('--')
             if isfile(target_file_name):
                 print_error('Error: Target file {} already exists..'.format(target_file_name))
-                return False, None
+                return False, success_source_files, success_target_files
 
             print(f"  Downloading {source_file_name} from {self.bucket_name}...")
-            self.client.fput_object(self.bucket_name, target_file_name, source_file_name)
+            self.client.fget_object(self.bucket_name, source_file_name, target_file_name)
             print(f"  Successfully downloaded {source_file_name} to {target_file_name}!")
+            success_source_files.append(source_file_name)
+            success_target_files.append(target_file_name)
 
-        return True, target_filelist
+        return True, success_source_files, success_target_files
 
 class CloudFlareDownloader(object):
     def __init__(self, bucket_name = "tartanair-v2") -> None:
         import boto3
-        access_key = "be0116e42ced3fd52c32398b5003ecda"
-        secret_key = "103fab752dab348fa665dc744be9b8fb6f9cf04f82f9409d79c54a88661a0d40"
+        access_key = "f1ae9efebbc6a9a7cebbd949ba3a12de"
+        secret_key = "0a21fe771089d82e048ed0a1dd6067cb29a5666bf4fe95f7be9ba6f72482ec8b"
         endpoint_url = "https://0a585e9484af268a716f8e6d3be53bbc.r2.cloudflarestorage.com"
 
         self.bucket_name = bucket_name
         self.s3 = boto3.client('s3', aws_access_key_id=access_key,
                       aws_secret_access_key=secret_key,
                       endpoint_url=endpoint_url)
 
-    def download(self, filelist, destination_path):
+    def download(self, filelist, targetfilelist):
         """
         Downloads a file from Cloudflare R2 storage using S3 API.
 
@@ -67,26 +69,29 @@ def download(self, filelist, destination_path):
         - str: A message indicating success or failure.
         """
 
-        from botocore.exceptions import NoCredentialsError
-        target_filelist = []
-        for source_file_name in filelist:
-            target_file_name = join(destination_path, source_file_name.replace('/', '_'))
-            target_filelist.append(target_file_name)
+        from botocore.exceptions import NoCredentialsError, ClientError
+        success_source_files, success_target_files = [], []
+        for source_file_name, target_file_name in zip(filelist, targetfilelist):
             print('--')
             if isfile(target_file_name):
                 print_error('Error: Target file {} already exists..'.format(target_file_name))
-                return False, None
+                return False, success_source_files, success_target_files
             try:
                 print(f"  Downloading {source_file_name} from {self.bucket_name}...")
                 self.s3.download_file(self.bucket_name, source_file_name, target_file_name)
                 print(f"  Successfully downloaded {source_file_name} to {target_file_name}!")
-            except FileNotFoundError:
+                success_source_files.append(source_file_name)
+                success_target_files.append(target_file_name)
+            except ClientError:
                 print_error(f"Error: The file {source_file_name} was not found in the bucket {self.bucket_name}.")
-                return False, None
+                return False, success_source_files, success_target_files
             except NoCredentialsError:
                 print_error("Error: Credentials not available.")
-                return False, None
-        return True, target_filelist
+                return False, success_source_files, success_target_files
+            except Exception:
+                print_error("Error: Failed for some reason.")
+                return False, success_source_files, success_target_files
+        return True, success_source_files, success_target_files
 
     def get_all_s3_objects(self):
         continuation_token = None
@@ -169,7 +174,7 @@ def unzip_files(self, zipfilelist):
             os.system(cmd)
         print_highlight("Unzipping Completed! ")
 
-    def download(self, env = [], difficulty = [], modality = [], camera_name = [], config = None, unzip = False, **kwargs):
+    def download(self, env = [], difficulty = [], modality = [], camera_name = [], config = None, unzip = False, max_failure_trial = 3, **kwargs):
         """
         Downloads a trajectory from the TartanAir dataset. A trajectory includes a set of images and a corresponding trajectory text file describing the motion.
 
@@ -223,11 +228,50 @@ def download(self, env = [], difficulty = [], modality = [], camera_name = [], c
         if not self.doublecheck_filelist(zipfilelist):
             return False
 
-        suc, targetfilelist = self.downloader.download(zipfilelist, self.tartanair_data_root)
+        # generate the target file list: 
+        targetfilelist = [join(self.tartanair_data_root, zipfile.replace('/', '_')) for zipfile in zipfilelist]
+        all_success_filelist = []
+
+        suc, success_source_files, success_target_files = self.downloader.download(zipfilelist, targetfilelist)
+        all_success_filelist.extend(success_target_files)
+
+        # download failed files untill success
+        trail_count = 0
+        while not suc: 
+            zipfilelist = [ff for ff in zipfilelist if ff not in success_source_files]
+            if len(zipfilelist) == 0:
+                print_warn("No failed files are found! ")
+                break
+
+            targetfilelist = [join(self.tartanair_data_root, zipfile.replace('/', '_')) for zipfile in zipfilelist]
+            suc, success_source_files, success_target_files = self.downloader.download(zipfilelist, targetfilelist)
+            all_success_filelist.extend(success_target_files)
+            trail_count += 1
+            if trail_count >= max_failure_trial:
+                break
+
         if suc:
             print_highlight("Download completed! Enjoy using TartanAir!")
+        else:
+            print_warn("Download with failure! The following files are not downloaded ..")
+            for ff in zipfilelist:
+                print_warn(ff)
 
         if unzip:
-            self.unzip_files(targetfilelist)
+            self.unzip_files(all_success_filelist)
 
         return True
+
+    def download_multi_thread(self, env = [], difficulty = [], modality = [], camera_name = [], config = None, unzip = False, max_failure_trial = 3, num_workers = 8, **kwargs):
+        with ThreadPoolExecutor(max_workers=num_workers) as executor:
+            futures = []
+            for ee in env:
+                for dd in difficulty:
+                    futures.append(executor.submit(self.download, env = [ee], difficulty = [dd], modality = modality, camera_name = camera_name, 
+                                    config = config, unzip = unzip, max_failure_trial = max_failure_trial,))
+                    # Wait for a few seconds to avoid overloading the data server
+                    time.sleep(2)
+
+            # Wait for all futures to complete
+            for future in as_completed(futures):
+                future.result()  # This will re-raise any exceptions caught during the futures' execution

tartanair/tartanair.py

@@ -84,7 +84,14 @@ def init(tartanair_root):
     is_init = True
 
     return True
-
+
+def get_all_data():
+    global downloader
+    return {"env": downloader.env_names, 
+            "difficulty": downloader.difficulty_names, 
+            "modality": downloader.modality_names, 
+            "camera_name": downloader.camera_names, 
+    } 
 
 def download(env = [], difficulty = [], modality = [], camera_name = [], config = None, unzip = False):
     """
@@ -109,6 +116,29 @@ def download(env = [], difficulty = [], modality = [], camera_name = [], config
     check_init()
     downloader.download(env, difficulty, modality, camera_name, config, unzip)
 
+def download_multi_thread(env = [], difficulty = [], modality = [], camera_name = [], config = None, unzip = False, num_workers = 8):
+    """
+    Download data from the TartanAir dataset. This method will download the data from the Azure server and store it in the `tartanair_root` directory.
+
+    :param env: The environment to download. Can be a list of environments.
+    :type env: str or list
+    :param difficulty: The difficulty of the trajectory. Can be a list of difficulties. Valid difficulties are: easy, hard.
+    :type difficulty: str or list
+    :param trajectory_id: The id of the trajectory to download. Can be a list of trajectory ids of form P000, P001, etc.
+    :type trajectory_id: str or list
+    :param modality: The modality to download. Can be a list of modalities. Valid modalities are: image, depth, seg, imu{_acc, _gyro, _time, ...}, lidar. Default will include all.
+    :type modality: str or list
+    :param camera_name: The camera name to download. Can be a list of camera names. Default will include all. Choices are `lcam_front`, `lcam_right`, `lcam_back`, `lcam_left`, `lcam_top`, `lcam_bottom`, `rcam_front`, `rcam_right`, `rcam_back`, `rcam_left`, `rcam_top`, `rcam_bottom`, `lcam_fish`, `rcam_fish`, `lcam_equirect`, `rcam_equirect`.
+     Modalities IMU and LIDAR do not need camera names specified.
+    :type camera_name: str or list
+    :param config: Optional. Path to a yaml file containing the download configuration. If a config file is provided, the other arguments will be ignored.
+    :type config: str
+    """
+
+    global downloader
+    check_init()
+    downloader.download_multi_thread(env = env, difficulty = difficulty, modality = modality, camera_name = camera_name, config = config, unzip = unzip, num_workers = num_workers)
+
 def customize(env, difficulty, trajectory_id, modality, new_camera_models_params = [{}], num_workers = 1, device = "cpu"):
     """
     Synthesizes raw data into new camera-models. A few camera models are provided, although you can also provide your own camera models. The currently available camera models are:
@@ -399,7 +429,6 @@ def evaluate_traj(est_traj,
 
     :return: A dictionary containing the evaluation metrics, which include ATE, RPE, the ground truth trajectory, and the estimated trajectory after alignment and scaling if those were requested
     :rtype: dict
-
     """
     global evaluator    
     check_init()
@@ -424,4 +453,4 @@ def evaluate_traj(est_traj,
 #     """
 #     global random_accessor
 #     check_init()
-#     return random_accessor
+#     return random_accessor