RSDK-11728 — Remove get_image, render_frame, and format (#1056)

Author: hexbabe

docs/examples/example.ipynb

@@ -23,7 +23,7 @@
     "importName": "GenericComponent"
   },
   "camera": {
-    "func": "get_image",
+    "func": "get_images",
     "packagePath": "viam.components"
   },
   "encoder": {

examples/apis.json

@@ -7,6 +7,7 @@
 from viam.components.camera import Camera
 from viam.components.encoder import Encoder
 from viam.components.motor import Motor
+from viam.media.utils.pil import viam_to_pil_image
 from viam.media.video import CameraMimeType
 from viam.robot.client import RobotClient
 from viam.rpc.dial import DialOptions
@@ -34,7 +35,8 @@ async def client():
 
         print("\n#### CAMERA ####")
         camera = Camera.from_robot(robot, "camera0")
-        img = await camera.get_image(mime_type=CameraMimeType.PNG)
+        images, _ = await camera.get_images()
+        img = viam_to_pil_image(images[0])
         assert isinstance(img, Image)
         img.show()
         await asyncio.sleep(1)

examples/server/v1/client.py

@@ -9,12 +9,13 @@
 else:
     from typing import AsyncIterator
 
-from datetime import timedelta
+from datetime import datetime, timedelta
 from io import BytesIO
 from multiprocessing import Lock
 from pathlib import Path
 from typing import Any, Dict, List, Mapping, Optional, Tuple
 
+from google.protobuf.timestamp_pb2 import Timestamp
 from PIL import Image
 
 from viam.components.arm import Arm
@@ -434,11 +435,11 @@ def __init__(self, name: str):
         img.close()
         super().__init__(name)
 
-    async def get_image(self, mime_type: str = "", extra: Optional[Dict[str, Any]] = None, **kwargs) -> ViamImage:
-        return self.image
-
     async def get_images(self, timeout: Optional[float] = None, **kwargs) -> Tuple[List[NamedImage], ResponseMetadata]:
-        raise NotImplementedError()
+        ts = Timestamp()
+        ts.FromDatetime(datetime.now())
+        metadata = ResponseMetadata(captured_at=ts)
+        return [NamedImage(self.name, self.image.data, self.image.mime_type)], metadata
 
     async def get_point_cloud(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> Tuple[bytes, str]:
         raise NotImplementedError()

examples/server/v1/components.py

@@ -571,7 +571,7 @@ async def get_latest_tabular_data(
                 part_id="77ae3145-7b91-123a-a234-e567cdca8910",
                 resource_name="camera-1",
                 resource_api="rdk:component:camera",
-                method_name="GetImage",
+                method_name="GetImages",
                 additional_params={"docommand_input": {"test": "test"}}
             )
 

src/viam/app/data_client.py

@@ -2,7 +2,7 @@
 import sys
 from typing import Any, Dict, Final, Optional, Sequence, Tuple
 
-from viam.media.video import NamedImage, ViamImage
+from viam.media.video import NamedImage
 from viam.proto.common import ResponseMetadata
 from viam.proto.component.camera import GetPropertiesResponse
 from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
@@ -36,32 +36,6 @@ class Camera(ComponentBase):
 
     Properties: "TypeAlias" = GetPropertiesResponse
 
-    @abc.abstractmethod
-    async def get_image(
-        self, mime_type: str = "", *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
-    ) -> ViamImage:
-        """Get the next image from the camera as a ViamImage.
-        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.ViamImage.bytes_to_depth_array`
-        to convert the data to a standard representation.
-
-        ::
-
-            my_camera = Camera.from_robot(machine, "my_camera")
-            frame = await my_camera.get_image()
-            print(f"Frame: {frame}")
-
-        Args:
-            mime_type (str): The desired mime type of the image. This does not guarantee output type
-
-        Returns:
-            ViamImage: The frame.
-
-        For more information, see `Camera component <https://docs.viam.com/dev/reference/apis/components/camera/#getimage>`_.
-        """
-        ...
-
     @abc.abstractmethod
     async def get_images(
         self,

src/viam/components/camera/camera.py

@@ -2,12 +2,10 @@
 
 from grpclib.client import Channel
 
-from viam.media.video import CameraMimeType, NamedImage, ViamImage
+from viam.media.video import CameraMimeType, NamedImage
 from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, ResponseMetadata
 from viam.proto.component.camera import (
     CameraServiceStub,
-    GetImageRequest,
-    GetImageResponse,
     GetImagesRequest,
     GetImagesResponse,
     GetPointCloudRequest,
@@ -30,19 +28,6 @@ def __init__(self, name: str, channel: Channel):
         self.client = CameraServiceStub(channel)
         super().__init__(name)
 
-    async def get_image(
-        self,
-        mime_type: str = "",
-        *,
-        extra: Optional[Dict[str, Any]] = None,
-        timeout: Optional[float] = None,
-        **kwargs,
-    ) -> ViamImage:
-        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, CameraMimeType.from_string(response.mime_type))
-
     async def get_images(
         self,
         *,
@@ -56,11 +41,7 @@ async def get_images(
         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 = CameraMimeType.from_string(img_data.mime_type)
-            else:
-                # TODO(RSDK-11728): remove this once we deleted the format field
-                mime_type = CameraMimeType.from_proto(img_data.format)
+            mime_type = CameraMimeType.from_string(img_data.mime_type)
             img = NamedImage(img_data.source_name, img_data.image, mime_type)
             imgs.append(img)
         resp_metadata: ResponseMetadata = response.response_metadata

src/viam/components/camera/client.py

@@ -1,22 +1,18 @@
 # TODO: Update type checking based with RSDK-4089
 # pyright: reportGeneralTypeIssues=false
-from google.api.httpbody_pb2 import HttpBody  # type: ignore
 from grpclib.server import Stream
 
-from viam.media.video import CameraMimeType
+from viam.errors import NotSupportedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.camera import (
     CameraServiceBase,
-    GetImageRequest,
-    GetImageResponse,
     GetImagesRequest,
     GetImagesResponse,
     GetPointCloudRequest,
     GetPointCloudResponse,
     GetPropertiesRequest,
     GetPropertiesResponse,
     Image,
-    RenderFrameRequest,
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, struct_to_dict
@@ -31,16 +27,13 @@ class CameraRPCService(CameraServiceBase, ResourceRPCServiceBase[Camera]):
 
     RESOURCE_TYPE = Camera
 
-    async def GetImage(self, stream: Stream[GetImageRequest, GetImageResponse]) -> None:
-        request = await stream.recv_message()
-        assert request is not None
-        name = request.name
-        camera = self.get_resource(name)
+    async def GetImage(self, stream: Stream) -> None:
+        """Deprecated: Use GetImages instead."""
+        raise NotSupportedError("GetImage is deprecated. Use GetImages instead.")
 
-        timeout = stream.deadline.time_remaining() if stream.deadline else None
-        image = await camera.get_image(request.mime_type, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
-        response = GetImageResponse(mime_type=image.mime_type, image=image.data)
-        await stream.send_message(response)
+    async def RenderFrame(self, stream: Stream) -> None:
+        """Deprecated: Use GetImages instead."""
+        raise NotSupportedError("RenderFrame is deprecated. Use GetImages instead.")
 
     async def GetImages(self, stream: Stream[GetImagesRequest, GetImagesResponse]) -> None:
         request = await stream.recv_message()
@@ -56,25 +49,11 @@ async def GetImages(self, stream: Stream[GetImagesRequest, GetImagesResponse]) -
         )
         img_bytes_lst = []
         for img in images:
-            mime_type = CameraMimeType.from_string(img.mime_type)
-            # TODO(RSDK-11728): remove this fmt logic once we deleted the format field
-            fmt = mime_type.to_proto()  # Will be Format.FORMAT_UNSPECIFIED if an unsupported/custom mime type is set
-
             img_bytes = img.data
-            img_bytes_lst.append(Image(source_name=img.name, mime_type=img.mime_type, format=fmt, image=img_bytes))
+            img_bytes_lst.append(Image(source_name=img.name, mime_type=img.mime_type, image=img_bytes))
         response = GetImagesResponse(images=img_bytes_lst, response_metadata=metadata)
         await stream.send_message(response)
 
-    async def RenderFrame(self, stream: Stream[RenderFrameRequest, HttpBody]) -> None:  # pyright: ignore [reportInvalidTypeForm]
-        request = await stream.recv_message()
-        assert request is not None
-        name = request.name
-        camera = self.get_resource(name)
-        timeout = stream.deadline.time_remaining() if stream.deadline else None
-        image = await camera.get_image(request.mime_type, timeout=timeout, metadata=stream.metadata)
-        response = HttpBody(data=image.data, content_type=image.mime_type)  # type: ignore
-        await stream.send_message(response)
-
     async def GetPointCloud(self, stream: Stream[GetPointCloudRequest, GetPointCloudResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None

src/viam/components/camera/service.py

@@ -4,7 +4,6 @@
 from typing_extensions import ClassVar, Self
 
 from viam.errors import NotSupportedError
-from viam.proto.component.camera import Format
 
 from .viam_rgba import RGBA_HEADER_LENGTH, RGBA_MAGIC_NUMBER
 
@@ -70,44 +69,6 @@ def from_string(cls, value: str) -> Self:
         value_mime = value[:-5] if value.endswith("+lazy") else value  # ViamImage lazy encodes by default
         return cls(value_mime)
 
-    @classmethod
-    def from_proto(cls, format: Format.ValueType) -> Self:
-        """Returns the mimetype from a proto enum.
-
-        Args:
-            format (Format.ValueType): The mimetype in a proto enum.
-
-        Returns:
-            Self: The mimetype.
-        """
-        mimetypes = {
-            Format.FORMAT_RAW_RGBA: cls.VIAM_RGBA,
-            Format.FORMAT_RAW_DEPTH: cls.VIAM_RAW_DEPTH,
-            Format.FORMAT_JPEG: cls.JPEG,
-            Format.FORMAT_PNG: cls.PNG,
-        }
-        return cls(mimetypes.get(format, cls.JPEG))
-
-    @property
-    def proto(self) -> Format.ValueType:
-        """Returns the mimetype in a proto enum.
-
-        Returns:
-            Format.ValueType: The mimetype in a proto enum.
-        """
-        formats = {
-            self.VIAM_RGBA: Format.FORMAT_RAW_RGBA,
-            self.VIAM_RAW_DEPTH: Format.FORMAT_RAW_DEPTH,
-            self.JPEG: Format.FORMAT_JPEG,
-            self.PNG: Format.FORMAT_PNG,
-        }
-        return formats.get(self, Format.FORMAT_UNSPECIFIED)
-
-    def to_proto(self) -> Format.ValueType:
-        """
-        DEPRECATED: Use `CameraMimeType.proto`
-        """
-        return self.proto
 
 
 CameraMimeType.VIAM_RGBA = CameraMimeType.from_string("image/vnd.viam.rgba")

src/viam/media/video.py

@@ -6,7 +6,6 @@
 from ....gen.component.camera.v1.camera_grpc import CameraServiceBase, CameraServiceStub, UnimplementedCameraServiceBase
 from ....gen.component.camera.v1.camera_pb2 import (
     DistortionParameters,
-    Format,
     GetImageRequest,
     GetImageResponse,
     GetImagesRequest,
@@ -28,7 +27,6 @@
     "CameraServiceStub",
     "UnimplementedCameraServiceBase",
     "DistortionParameters",
-    "Format",
     "GetImageRequest",
     "GetImageResponse",
     "GetImagesRequest",