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# Copyright (c) Meta Platforms, Inc. and affiliates.
import asyncio
import json
from pathlib import Path
import httpx
import numpy as np
import tqdm
from aiolimiter import AsyncLimiter
from opensfm.pygeometry import Camera, Pose
from opensfm.pymap import Shot
from ... import logger
from ...utils.geo import Projection
semaphore = asyncio.Semaphore(100) # number of parallel threads.
image_filename = "{image_id}.jpg"
info_filename = "{image_id}.json"
def retry(times, exceptions):
def decorator(func):
async def wrapper(*args, **kwargs):
attempt = 0
while attempt < times:
try:
return await func(*args, **kwargs)
except exceptions:
attempt += 1
return await func(*args, **kwargs)
return wrapper
return decorator
class MapillaryDownloader:
image_fields = (
"id",
"height",
"width",
"camera_parameters",
"camera_type",
"captured_at",
"compass_angle",
"geometry",
"altitude",
"computed_compass_angle",
"computed_geometry",
"computed_altitude",
"computed_rotation",
"thumb_2048_url",
"thumb_original_url",
"sequence",
"sfm_cluster",
)
image_info_url = (
"https://graph.mapillary.com/{image_id}?access_token={token}&fields={fields}"
)
seq_info_url = "https://graph.mapillary.com/image_ids?access_token={token}&sequence_id={seq_id}" # noqa E501
max_requests_per_minute = 50_000
def __init__(self, token: str):
self.token = token
self.client = httpx.AsyncClient(
transport=httpx.AsyncHTTPTransport(retries=20), timeout=120.0
)
self.limiter = AsyncLimiter(self.max_requests_per_minute // 2, time_period=60)
@retry(times=5, exceptions=(httpx.RemoteProtocolError, httpx.ReadError))
async def call_api(self, url: str):
async with self.limiter:
r = await self.client.get(url)
if not r.is_success:
logger.error("Error in API call: %s", r.text)
return r
async def get_image_info(self, image_id: int):
url = self.image_info_url.format(
image_id=image_id,
token=self.token,
fields=",".join(self.image_fields),
)
r = await self.call_api(url)
if r.is_success:
return json.loads(r.text)
async def get_sequence_info(self, seq_id: str):
url = self.seq_info_url.format(seq_id=seq_id, token=self.token)
r = await self.call_api(url)
if r.is_success:
return json.loads(r.text)
async def download_image_pixels(self, url: str, path: Path):
r = await self.call_api(url)
if r.is_success:
with open(path, "wb") as fid:
fid.write(r.content)
return r.is_success
async def get_image_info_cached(self, image_id: int, path: Path):
if path.exists():
info = json.loads(path.read_text())
else:
info = await self.get_image_info(image_id)
if info is not None:
path.write_text(json.dumps(info))
return info
async def download_image_pixels_cached(self, url: str, path: Path):
if path.exists():
return True
else:
return await self.download_image_pixels(url, path)
async def fetch_images_in_sequence(i, downloader):
async with semaphore:
info = await downloader.get_sequence_info(i)
if info is None:
image_ids = None
else:
image_ids = [int(d["id"]) for d in info["data"]]
return i, image_ids
async def fetch_images_in_sequences(sequence_ids, downloader):
seq_to_images_ids = {}
tasks = [fetch_images_in_sequence(i, downloader) for i in sequence_ids]
for task in tqdm.asyncio.tqdm.as_completed(tasks):
i, image_ids = await task
if image_ids is not None:
seq_to_images_ids[i] = image_ids
return seq_to_images_ids
async def fetch_image_info(i, downloader, dir_):
async with semaphore:
path = dir_ / info_filename.format(image_id=i)
info = await downloader.get_image_info_cached(i, path)
return i, info
async def fetch_image_infos(image_ids, downloader, dir_):
infos = {}
num_fail = 0
tasks = [fetch_image_info(i, downloader, dir_) for i in image_ids]
for task in tqdm.asyncio.tqdm.as_completed(tasks):
i, info = await task
if info is None:
num_fail += 1
else:
infos[i] = info
return infos, num_fail
async def fetch_image_pixels(i, url, downloader, dir_, overwrite=False):
async with semaphore:
path = dir_ / image_filename.format(image_id=i)
if overwrite:
path.unlink(missing_ok=True)
success = await downloader.download_image_pixels_cached(url, path)
return i, success
async def fetch_images_pixels(image_urls, downloader, dir_):
num_fail = 0
tasks = [fetch_image_pixels(*id_url, downloader, dir_) for id_url in image_urls]
for task in tqdm.asyncio.tqdm.as_completed(tasks):
i, success = await task
num_fail += not success
return num_fail
def opensfm_camera_from_info(info: dict) -> Camera:
cam_type = info["camera_type"]
if cam_type == "perspective":
camera = Camera.create_perspective(*info["camera_parameters"])
elif cam_type == "fisheye":
camera = Camera.create_fisheye(*info["camera_parameters"])
elif Camera.is_panorama(cam_type):
camera = Camera.create_spherical()
else:
raise ValueError(cam_type)
camera.width = info["width"]
camera.height = info["height"]
camera.id = info["id"]
return camera
def opensfm_shot_from_info(info: dict, projection: Projection) -> Shot:
latlong = info["computed_geometry"]["coordinates"][::-1]
alt = info["computed_altitude"]
xyz = projection.project(np.array([*latlong, alt]), return_z=True)
c_rotvec_w = np.array(info["computed_rotation"])
pose = Pose()
pose.set_from_cam_to_world(-c_rotvec_w, xyz)
camera = opensfm_camera_from_info(info)
return latlong, Shot(info["id"], camera, pose)
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