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RSDK-13626: Remove getImage, Format helpers, and format field usage #149

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RSDK-13626: Remove getImage, Format helpers, and format field usage #149

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39 changes: 0 additions & 39 deletions core/sdk/src/main/java/com/viam/sdk/core/component/camera/Camera.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@

import com.google.protobuf.Struct;
import com.viam.common.v1.Common;
import com.viam.component.camera.v1.Camera.Format;
import com.viam.component.camera.v1.Camera.Image;
import com.viam.sdk.core.component.Component;
import com.viam.sdk.core.resource.Resource;
Expand Down Expand Up @@ -47,13 +46,6 @@ public static Camera fromRobot(final RobotClient robot, final String name) {
return robot.getResource(Camera.class, named(name));
}

/**
* @deprecated please utilize getImages instead
*/
@Deprecated
public abstract Image getImage(final Format format,
final Optional<Struct> extra);

public abstract Entry<List<Image>, Common.ResponseMetadata> getImages(
final Optional<List<String>> filterSourceNames,
final Optional<Struct> extra);
Expand All @@ -62,35 +54,4 @@ public Entry<List<Image>, Common.ResponseMetadata> getImages() {
return getImages(Optional.empty(), Optional.empty());
}

@Deprecated
static Format mimeToFormat(final String mimeType) {
switch (mimeType) {
case "image/jpeg":
return Format.FORMAT_JPEG;
case "image/png":
return Format.FORMAT_PNG;
case "image/vnd.viam.rgba":
return Format.FORMAT_RAW_RGBA;
case "image/vnd.viam.dep":
return Format.FORMAT_RAW_DEPTH;
default:
return Format.FORMAT_UNSPECIFIED;
}
}

@Deprecated
static String formatToMime(final Format format) {
switch (format) {
case FORMAT_JPEG:
return "image/jpeg";
case FORMAT_PNG:
return "image/png";
case FORMAT_RAW_RGBA:
return "image/vnd.viam.rgba";
case FORMAT_RAW_DEPTH:
return "image/vnd.viam.dep";
default:
return "unknown";
}
}
}
19 changes: 0 additions & 19 deletions core/sdk/src/main/java/com/viam/sdk/core/component/camera/CameraRPCClient.java
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Original file line number Diff line number Diff line change
Expand Up @@ -48,25 +48,6 @@ public List<Common.Geometry> getGeometries(final Optional<Struct> extra) {
return client.getGeometries(builder.build()).getGeometriesList();
}

@Override
@Deprecated
/*
* @deprecated please utilize getImages instead
*/
public Image getImage(final Format format,
Optional<Struct> extra) {
final GetImageRequest.Builder builder = GetImageRequest.newBuilder().
setName(getName().getName()).
setMimeType(Camera.formatToMime(format));
extra.ifPresent(builder::setExtra);
final GetImageResponse resp = client.getImage(builder.build());
final Image.Builder imgBuilder = Image.newBuilder().
setSourceName(getName().getName()).
setImage(resp.getImage());

return imgBuilder.setFormat(Camera.mimeToFormat(resp.getMimeType())).build();
}

@Override
public Entry<List<Image>, ResponseMetadata> getImages(final Optional<List<String>> filterSourceNames,
final Optional<Struct> extra) {
Expand Down
20 changes: 0 additions & 20 deletions core/sdk/src/main/java/com/viam/sdk/core/component/camera/CameraRPCService.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,6 @@
import com.viam.common.v1.Common.Geometry;
import com.viam.common.v1.Common.GetGeometriesResponse;
import com.viam.common.v1.Common.ResponseMetadata;
import com.viam.component.camera.v1.Camera.GetImageRequest;
import com.viam.component.camera.v1.Camera.GetImageResponse;
import com.viam.component.camera.v1.Camera.GetImagesRequest;
import com.viam.component.camera.v1.Camera.GetImagesResponse;
import com.viam.component.camera.v1.Camera.Image;
Expand Down Expand Up @@ -51,24 +49,6 @@ public void getGeometries(Common.GetGeometriesRequest request,
responseObserver.onCompleted();
}

@Override
@Deprecated
/*
* @deprecated please utilize getImages instead
*/
public void getImage(GetImageRequest request,
StreamObserver<GetImageResponse> responseObserver) {
final Camera camera = getResource(
Camera.named(request.getName()));
final Image result = camera.getImage(Camera.mimeToFormat(request.getMimeType()),
Optional.of(request.getExtra()));

responseObserver.onNext(
GetImageResponse.newBuilder().setImage(result.getImage())
.setMimeType(Camera.formatToMime(result.getFormat())).build());
responseObserver.onCompleted();
}

@Override
public void getImages(GetImagesRequest request,
StreamObserver<GetImagesResponse> responseObserver) {
Expand Down
10 changes: 4 additions & 6 deletions core/sdk/src/main/kotlin/com/viam/sdk/core/util/Media.kt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
@file:JvmName("MediaUtils")
package com.viam.sdk.core.util

import com.viam.component.camera.v1.Camera.Format
import com.viam.component.camera.v1.Camera.Image
import java.nio.ByteBuffer

Expand All @@ -18,7 +17,6 @@ data class ImageDimensions(val width: Int, val height: Int) {
* Get the dimensions of an image from its data and mime-type.
*
* Only specific mime-types are supported: PNG, JPEG, and a custom vnd.viam.rgba.
* The corresponding [Format] are [Format.FORMAT_PNG], [Format.FORMAT_JPEG], and [Format.FORMAT_RAW_RGBA].
*
* @param image the byte data of the image
* @param mimeType the mime-type of the image
Expand All @@ -37,25 +35,25 @@ fun getDimensions(image: Iterable<Byte>, mimeType: String): ImageDimensions {
}

/**
* The dimensions of the image, if [Image.getFormat] returns a supported [Format].
* The dimensions of the image based on its mime type.
* See [getDimensions] for more details.
*/
val Image.dimensions: ImageDimensions?
get() = try {
getDimensions(this.image, this.format.name)
getDimensions(this.image, this.mimeType)
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@hexbabe hexbabe Mar 18, 2026

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does anything important rely on this? I don't think we should support this anymore

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@stuqdog stuqdog Mar 19, 2026

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I'd wait for confirmation from @njooma but I think it's probably fine to get rid of.

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@njooma njooma Mar 20, 2026

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we need to support dimensions i believe for some vision methods that require height/width IIRC

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@njooma njooma Mar 20, 2026

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@hexbabe what're your thoughts on getting rid of it?

} catch (e: Exception) {
null
}

/**
* The width of the image, if [Image.getFormat] returns a supported [Format].
* The width of the image based on its mime type.
* See [getDimensions] for more details.
*/
val Image.width: Int?
get() = this.dimensions?.width

/**
* The height of the image, if [Image.getFormat] returns a supported [Format].
* The height of the image based on its mime type.
* See [getDimensions] for more details.
*/
val Image.height: Int?
Expand Down
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