TypeAlias Camera.Properties (#502)

Author: njooma

Makefile

@@ -2,7 +2,7 @@ clean:
 	find . -type d -name '__pycache__' | xargs rm -rf
 
 _lint:
-	flake8 --exclude=**/gen/**,*_grpc.py,*_pb2.py,*_pb2.pyi,.tox
+	flake8 --exclude=**/gen/**,*_grpc.py,*_pb2.py,*_pb2.pyi,.tox,**/venv/**
 
 lint:
 	poetry run $(MAKE) _lint

src/viam/components/camera/__init__.py

@@ -1,4 +1,4 @@
-from viam.media.video import RawImage
+from viam.media.video import RawImage, ViamImage
 from viam.proto.component.camera import DistortionParameters, IntrinsicParameters
 from viam.resource.registry import Registry, ResourceRegistration
 
@@ -11,6 +11,7 @@
     "IntrinsicParameters",
     "DistortionParameters",
     "RawImage",
+    "ViamImage",
 ]
 
 Registry.register_subtype(

src/viam/components/camera/camera.py

@@ -1,14 +1,18 @@
 import abc
-from typing import Any, Dict, Final, List, NamedTuple, Optional, Tuple, Union
+from typing import TYPE_CHECKING, Any, Dict, Final, List, Optional, Tuple, Union
 
 from PIL.Image import Image
 
 from viam.media.video import NamedImage
 from viam.proto.common import ResponseMetadata
+from viam.proto.component.camera import GetPropertiesResponse
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
-from . import DistortionParameters, IntrinsicParameters, RawImage
+from . import RawImage
+
+if TYPE_CHECKING:
+    from typing import TypeAlias
 
 
 class Camera(ComponentBase):
@@ -22,17 +26,7 @@ class Camera(ComponentBase):
 
     SUBTYPE: Final = Subtype(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "camera")
 
-    class Properties(NamedTuple):
-        """The camera's supported features and settings"""
-
-        supports_pcd: bool
-        """Whether the camera has a valid implementation of ``get_point_cloud``"""
-
-        intrinsic_parameters: IntrinsicParameters
-        """The properties of the camera"""
-
-        distortion_parameters: DistortionParameters
-        """The distortion parameters of the camera"""
+    Properties: "TypeAlias" = GetPropertiesResponse
 
     @abc.abstractmethod
     async def get_image(
@@ -41,7 +35,7 @@ async def get_image(
         """Get the next image from the camera as an Image or RawImage.
         Be sure to close the image when finished.
 
-        NOTE: If the mime type is ``image/vnd.viam.dep`` you can use :func:`viam.media.video.RawImage.bytes_to_depth_array`
+        NOTE: If the mime type is ``image/vnd.viam.dep`` you can use :func:`viam.media.video.ViamImage.bytes_to_depth_array`
         to convert the data to a standard representation.
 
         Args:

src/viam/components/camera/client.py

@@ -15,7 +15,6 @@
     GetPointCloudRequest,
     GetPointCloudResponse,
     GetPropertiesRequest,
-    GetPropertiesResponse,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
@@ -71,8 +70,7 @@ async def get_point_cloud(self, *, extra: Optional[Dict[str, Any]] = None, timeo
         return (response.point_cloud, response.mime_type)
 
     async def get_properties(self, *, timeout: Optional[float] = None) -> Camera.Properties:
-        response: GetPropertiesResponse = await self.client.GetProperties(GetPropertiesRequest(name=self.name), timeout=timeout)
-        return Camera.Properties(response.supports_pcd, response.intrinsic_parameters, response.distortion_parameters)
+        return await self.client.GetProperties(GetPropertiesRequest(name=self.name), timeout=timeout)
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None) -> Mapping[str, ValueTypes]:
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))

src/viam/components/types.py

@@ -18,7 +18,9 @@
 
 
 class RawImage(NamedTuple):
-    """A raw bytes representation of an image.
+    """**DEPRECATED** Use ``ViamImage`` instead
+
+    A raw bytes representation of an image.
 
     A RawImage should be returned instead of a PIL Image instance under one of
     the following conditions

src/viam/media/video.py

@@ -398,9 +398,9 @@ def __init__(self, name: str):
         self.point_cloud = b"THIS IS A POINT CLOUD"
         self.extra = None
         self.props = Camera.Properties(
-            False,
-            IntrinsicParameters(width_px=1, height_px=2, focal_x_px=3, focal_y_px=4, center_x_px=5, center_y_px=6),
-            DistortionParameters(model="no_distortion"),
+            supports_pcd=False,
+            intrinsic_parameters=IntrinsicParameters(width_px=1, height_px=2, focal_x_px=3, focal_y_px=4, center_x_px=5, center_y_px=6),
+            distortion_parameters=DistortionParameters(model="no_distortion"),
         )
         self.timeout: Optional[float] = None
         ts = Timestamp()

tests/mocks/components.py

@@ -60,9 +60,9 @@ def point_cloud() -> bytes:
 @pytest.fixture(scope="function")
 def properties() -> Camera.Properties:
     return Camera.Properties(
-        False,
-        IntrinsicParameters(width_px=1, height_px=2, focal_x_px=3, focal_y_px=4, center_x_px=5, center_y_px=6),
-        DistortionParameters(model="no_distortion"),
+        supports_pcd=False,
+        intrinsic_parameters=IntrinsicParameters(width_px=1, height_px=2, focal_x_px=3, focal_y_px=4, center_x_px=5, center_y_px=6),
+        distortion_parameters=DistortionParameters(model="no_distortion"),
     )