Revert "[RSDK-11704, RSDK-11603] Update Python SDK with new GetImages signature (viamrobotics#982)"

This reverts commit 217af75.

Author: stuqdog

src/viam/components/camera/camera.py

@@ -63,14 +63,7 @@ async def get_image(
         ...
 
     @abc.abstractmethod
-    async def get_images(
-        self,
-        *,
-        filter_source_names: Optional[List[str]] = None,
-        extra: Optional[Dict[str, Any]] = None,
-        timeout: Optional[float] = None,
-        **kwargs,
-    ) -> Tuple[List[NamedImage], ResponseMetadata]:
+    async def get_images(self, *, timeout: Optional[float] = None, **kwargs) -> Tuple[List[NamedImage], ResponseMetadata]:
         """Get simultaneous images from different imagers, along with associated metadata.
         This should not be used for getting a time series of images from the same imager.
 

src/viam/components/camera/client.py

@@ -41,26 +41,20 @@ async def get_image(
         md = kwargs.get("metadata", self.Metadata()).proto
         request = GetImageRequest(name=self.name, mime_type=mime_type, extra=dict_to_struct(extra))
         response: GetImageResponse = await self.client.GetImage(request, timeout=timeout, metadata=md)
-        return ViamImage(response.image, response.mime_type)
+        return ViamImage(response.image, CameraMimeType.from_string(response.mime_type))
 
     async def get_images(
         self,
         *,
-        filter_source_names: Optional[List[str]] = None,
-        extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
         **kwargs,
     ) -> Tuple[List[NamedImage], ResponseMetadata]:
         md = kwargs.get("metadata", self.Metadata()).proto
-        request = GetImagesRequest(name=self.name, extra=dict_to_struct(extra), filter_source_names=filter_source_names)
+        request = GetImagesRequest(name=self.name)
         response: GetImagesResponse = await self.client.GetImages(request, timeout=timeout, metadata=md)
         imgs = []
         for img_data in response.images:
-            if img_data.mime_type:
-                mime_type = img_data.mime_type
-            else:
-                # TODO(RSDK-11728): remove this once we deleted the format field
-                mime_type = str(CameraMimeType.from_proto(img_data.format))
+            mime_type = CameraMimeType.from_proto(img_data.format)
             img = NamedImage(img_data.source_name, img_data.image, mime_type)
             imgs.append(img)
         resp_metadata: ResponseMetadata = response.response_metadata

src/viam/components/camera/service.py

@@ -7,7 +7,6 @@
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.camera import (
     CameraServiceBase,
-    Format,
     GetImageRequest,
     GetImageResponse,
     GetImagesRequest,
@@ -50,23 +49,12 @@ async def GetImages(self, stream: Stream[GetImagesRequest, GetImagesResponse]) -
         camera = self.get_resource(name)
 
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        images, metadata = await camera.get_images(
-            timeout=timeout,
-            metadata=stream.metadata,
-            extra=struct_to_dict(request.extra),
-            filter_source_names=list(request.filter_source_names),
-        )
+        images, metadata = await camera.get_images(timeout=timeout, metadata=stream.metadata)
         img_bytes_lst = []
         for img in images:
-            try:
-                mime_type = CameraMimeType.from_string(img.mime_type)  # this can ValueError if the mime_type is not a CameraMimeType
-                fmt = mime_type.to_proto()
-            except ValueError:
-                # TODO(RSDK-11728): remove this once we deleted the format field
-                fmt = Format.FORMAT_UNSPECIFIED
-
+            fmt = img.mime_type.to_proto()
             img_bytes = img.data
-            img_bytes_lst.append(Image(source_name=name, mime_type=img.mime_type, format=fmt, image=img_bytes))
+            img_bytes_lst.append(Image(source_name=name, format=fmt, image=img_bytes))
         response = GetImagesResponse(images=img_bytes_lst, response_metadata=metadata)
         await stream.send_message(response)
 

src/viam/media/video.py

@@ -28,10 +28,7 @@ def from_string(cls, value: str) -> Self:
             Self: The mimetype
         """
         value_mime = value[:-5] if value.endswith("+lazy") else value  # ViamImage lazy encodes by default
-        try:
-            return cls(value_mime)
-        except ValueError:
-            raise ValueError(f"Invalid mimetype: {value}")
+        return cls(value_mime)
 
     @classmethod
     def from_proto(cls, format: Format.ValueType) -> "CameraMimeType":
@@ -73,11 +70,11 @@ class ViamImage:
     """
 
     _data: bytes
-    _mime_type: str
+    _mime_type: CameraMimeType
     _height: Optional[int] = None
     _width: Optional[int] = None
 
-    def __init__(self, data: bytes, mime_type: str) -> None:
+    def __init__(self, data: bytes, mime_type: CameraMimeType) -> None:
         self._data = data
         self._mime_type = mime_type
         self._width, self._height = _getDimensions(data, mime_type)
@@ -88,7 +85,7 @@ def data(self) -> bytes:
         return self._data
 
     @property
-    def mime_type(self) -> str:
+    def mime_type(self) -> CameraMimeType:
         """The mime type of the image"""
         return self._mime_type
 
@@ -131,12 +128,12 @@ class NamedImage(ViamImage):
     """The name of the image
     """
 
-    def __init__(self, name: str, data: bytes, mime_type: str) -> None:
+    def __init__(self, name: str, data: bytes, mime_type: CameraMimeType) -> None:
         self.name = name
         super().__init__(data, mime_type)
 
 
-def _getDimensions(image: bytes, mime_type: str) -> Tuple[Optional[int], Optional[int]]:
+def _getDimensions(image: bytes, mime_type: CameraMimeType) -> Tuple[Optional[int], Optional[int]]:
     try:
         if mime_type == CameraMimeType.JPEG:
             return _getDimensionsFromJPEG(image)

src/viam/services/vision/service.py

@@ -79,7 +79,8 @@ async def GetDetections(self, stream: Stream[GetDetectionsRequest, GetDetections
         extra = struct_to_dict(request.extra)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
 
-        image = ViamImage(request.image, request.mime_type)
+        mime_type = CameraMimeType.from_string(request.mime_type)
+        image = ViamImage(request.image, mime_type)
 
         result = await vision.get_detections(image, extra=extra, timeout=timeout)
         response = GetDetectionsResponse(detections=result)
@@ -104,7 +105,8 @@ async def GetClassifications(self, stream: Stream[GetClassificationsRequest, Get
         extra = struct_to_dict(request.extra)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
 
-        image = ViamImage(request.image, request.mime_type)
+        mime_type = CameraMimeType.from_string(request.mime_type)
+        image = ViamImage(request.image, mime_type)
 
         result = await vision.get_classifications(image, request.n, extra=extra, timeout=timeout)
         response = GetClassificationsResponse(classifications=result)

tests/test_camera.py

@@ -13,6 +13,7 @@
 from viam.proto.component.camera import (
     CameraServiceStub,
     DistortionParameters,
+    Format,
     GetImageRequest,
     GetImageResponse,
     GetImagesRequest,
@@ -141,7 +142,6 @@ async def test_get_image(self, camera: MockCamera, service: CameraRPCService, im
             request = GetImageRequest(name="camera", mime_type=CameraMimeType.PNG)
             response: GetImageResponse = await client.GetImage(request, timeout=18.1)
             assert response.image == image.data
-            assert response.mime_type == CameraMimeType.PNG
             assert camera.timeout == loose_approx(18.1)
 
             # Test empty mime type. Empty mime type should default to response mime type
@@ -158,7 +158,7 @@ async def test_get_images(self, camera: MockCamera, service: CameraRPCService, m
             request = GetImagesRequest(name="camera")
             response: GetImagesResponse = await client.GetImages(request, timeout=18.1)
             raw_img = response.images[0]
-            assert raw_img.mime_type == CameraMimeType.PNG
+            assert raw_img.format == Format.FORMAT_PNG
             assert raw_img.source_name == camera.name
             assert response.response_metadata == metadata
             assert camera.timeout == loose_approx(18.1)