RSDK-11727 — Remove get_image, render_frame, and format (#523)

Author: hexbabe

src/viam/examples/camera/example_camera.cpp

@@ -57,11 +57,11 @@ int main() try {
                        << intrinsics.height_px;
 
     std::string output_file("img.png");
-    std::string image_mime_type("image/png");
 
-    VIAM_SDK_LOG(info) << "Getting image from camera ";
+    VIAM_SDK_LOG(info) << "Getting images from camera ";
 
-    vs::Camera::raw_image img = camera->get_image(image_mime_type);
+    vs::Camera::image_collection images = camera->get_images();
+    vs::Camera::raw_image img = images.images[0];
 
     VIAM_SDK_LOG(info) << "Got image of mime type: " << img.mime_type;
 

src/viam/sdk/components/camera.hpp

@@ -144,19 +144,6 @@ class Camera : public Component {
     /// @return The result of the executed command.
     virtual ProtoStruct do_command(const ProtoStruct& command) = 0;
 
-    /// @brief Get the next image from the camera as a raw image.
-    /// @param mime_type the desired mime_type of the image (does not guarantee output type).
-    /// @return The frame as a `raw_image`.
-    inline raw_image get_image(std::string mime_type) {
-        return get_image(std::move(mime_type), {});
-    }
-
-    /// @brief Get the next image from the camera as a raw image.
-    /// @param mime_type the desired mime_type of the image (does not guarantee output type).
-    /// @param extra any additional arguments to the method.
-    /// @return The frame as a `raw_image`.
-    virtual raw_image get_image(std::string mime_type, const ProtoStruct& extra) = 0;
-
     /// @brief Get the next images from the camera as a vector of raw images with names and
     /// metadata.
     /// @return a vector of raw_images and associated response metadata.

src/viam/sdk/components/private/camera_client.cpp

@@ -23,31 +23,6 @@ namespace impl {
 using sdk::from_proto;
 using sdk::to_proto;
 
-std::string format_to_MIME_string(viam::component::camera::v1::Format format) {
-    switch (format) {
-        case viam::component::camera::v1::FORMAT_RAW_RGBA:
-            return "image/vnd.viam.rgba";
-        case viam::component::camera::v1::FORMAT_RAW_DEPTH:
-            return "image/vnd.viam.dep";
-        case viam::component::camera::v1::FORMAT_JPEG:
-            return "image/jpeg";
-        case viam::component::camera::v1::FORMAT_PNG:
-            return "image/png";
-        default:
-            return "";
-    }
-}
-
-Camera::raw_image from_proto(const viam::component::camera::v1::GetImageResponse& proto) {
-    Camera::raw_image raw_image;
-    std::string img_string = proto.image();
-    const std::vector<unsigned char> bytes(img_string.begin(), img_string.end());
-    raw_image.bytes = bytes;
-    raw_image.mime_type = proto.mime_type();
-    raw_image.source_name = "";
-    return raw_image;
-}
-
 Camera::image_collection from_proto(const viam::component::camera::v1::GetImagesResponse& proto) {
     Camera::image_collection image_collection;
     std::vector<Camera::raw_image> images;
@@ -56,13 +31,7 @@ Camera::image_collection from_proto(const viam::component::camera::v1::GetImages
         std::string img_string = img.image();
         const std::vector<unsigned char> bytes(img_string.begin(), img_string.end());
         raw_image.bytes = bytes;
-        // TODO(RSDK-11733): This is a temporary fix to support handling both the format and mime
-        // type. We will remove this once we remove the format field from the proto.
-        if (!img.mime_type().empty()) {
-            raw_image.mime_type = img.mime_type();
-        } else {
-            raw_image.mime_type = format_to_MIME_string(img.format());
-        }
+        raw_image.mime_type = img.mime_type();
         raw_image.source_name = img.source_name();
         images.push_back(raw_image);
     }
@@ -121,15 +90,6 @@ ProtoStruct CameraClient::do_command(const ProtoStruct& command) {
         .invoke([](auto& response) { return from_proto(response.result()); });
 };
 
-Camera::raw_image CameraClient::get_image(std::string mime_type, const ProtoStruct& extra) {
-    return make_client_helper(this, *stub_, &StubType::GetImage)
-        .with(extra,
-              [&](auto& request) {
-                  *request.mutable_mime_type() = Camera::normalize_mime_type(mime_type);
-              })
-        .invoke([](auto& response) { return from_proto(response); });
-};
-
 Camera::image_collection CameraClient::get_images(std::vector<std::string> filter_source_names,
                                                   const ProtoStruct& extra) {
     return make_client_helper(this, *stub_, &StubType::GetImages)

src/viam/sdk/components/private/camera_client.hpp

@@ -31,8 +31,6 @@ class CameraClient : public Camera {
 
     ProtoStruct do_command(const ProtoStruct& command) override;
 
-    raw_image get_image(std::string mime_type, const ProtoStruct& extra) override;
-
     image_collection get_images(std::vector<std::string> filter_source_names,
                                 const ProtoStruct& extra) override;
 
@@ -52,7 +50,6 @@ class CameraClient : public Camera {
     // param. In order to access these versions of the methods within the client code, however,
     // we need to include these `using` lines.
     using Camera::get_geometries;
-    using Camera::get_image;
     using Camera::get_images;
     using Camera::get_point_cloud;
 

src/viam/sdk/components/private/camera_server.cpp

@@ -47,35 +47,11 @@ ::grpc::Status CameraServer::DoCommand(::grpc::ServerContext* context,
     });
 }
 
-::grpc::Status CameraServer::GetImage(
-    ::grpc::ServerContext* context,
-    const ::viam::component::camera::v1::GetImageRequest* request,
-    ::viam::component::camera::v1::GetImageResponse* response) noexcept {
-    return make_service_helper<Camera>(
-        "CameraServer::GetImage", this, context, request)([&](auto& helper, auto& camera) {
-        const Camera::raw_image image = camera->get_image(request->mime_type(), helper.getExtra());
-
-        const std::string img_string = bytes_to_string(image.bytes);
-
-        *response->mutable_mime_type() = image.mime_type;
-        *response->mutable_image() = img_string;
-    });
-}
-
-::viam::component::camera::v1::Format MIME_string_to_format(const std::string& mime_string) {
-    if (mime_string == "image/vnd.viam.rgba") {
-        return viam::component::camera::v1::FORMAT_RAW_RGBA;
-    }
-    if (mime_string == "image/vnd.viam.dep") {
-        return viam::component::camera::v1::FORMAT_RAW_DEPTH;
-    }
-    if (mime_string == "image/jpeg") {
-        return viam::component::camera::v1::FORMAT_JPEG;
-    }
-    if (mime_string == "image/png") {
-        return viam::component::camera::v1::FORMAT_PNG;
-    }
-    return viam::component::camera::v1::FORMAT_UNSPECIFIED;
+::grpc::Status CameraServer::GetImage(::grpc::ServerContext*,
+                                      const ::viam::component::camera::v1::GetImageRequest*,
+                                      ::viam::component::camera::v1::GetImageResponse*) noexcept {
+    return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED,
+                          "GetImage is deprecated. Use GetImages instead.");
 }
 
 ::grpc::Status CameraServer::GetImages(
@@ -92,26 +68,18 @@ ::grpc::Status CameraServer::GetImages(
             const std::string img_string = bytes_to_string(img.bytes);
             proto_image.set_source_name(img.source_name);
             proto_image.set_mime_type(img.mime_type);
-            proto_image.set_format(
-                MIME_string_to_format(Camera::normalize_mime_type(img.mime_type)));
             proto_image.set_image(img_string);
             *response->mutable_images()->Add() = std::move(proto_image);
         }
         *response->mutable_response_metadata() = to_proto(image_coll.metadata);
     });
 }
 
-::grpc::Status CameraServer::RenderFrame(
-    ::grpc::ServerContext* context,
-    const ::viam::component::camera::v1::RenderFrameRequest* request,
-    ::google::api::HttpBody* response) noexcept {
-    return make_service_helper<Camera>(
-        "CameraServer::RenderFrame", this, context, request)([&](auto& helper, auto& camera) {
-        const Camera::raw_image image = camera->get_image(request->mime_type(), helper.getExtra());
-
-        response->set_data(bytes_to_string(image.bytes));
-        response->set_content_type(image.mime_type);
-    });
+::grpc::Status CameraServer::RenderFrame(::grpc::ServerContext*,
+                                         const ::viam::component::camera::v1::RenderFrameRequest*,
+                                         ::google::api::HttpBody*) noexcept {
+    return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED,
+                          "RenderFrame is deprecated. Use GetImages instead.");
 }
 
 ::grpc::Status CameraServer::GetPointCloud(

src/viam/sdk/tests/mocks/camera_mocks.cpp

@@ -14,9 +14,6 @@ using namespace viam::sdk;
 ProtoStruct MockCamera::do_command(const ProtoStruct&) {
     return map_;
 }
-Camera::raw_image MockCamera::get_image(std::string, const ProtoStruct&) {
-    return image_;
-}
 Camera::image_collection MockCamera::get_images(std::vector<std::string> filter_source_names,
                                                 const ProtoStruct& extra) {
     last_filter_source_names_ = std::move(filter_source_names);
@@ -45,15 +42,6 @@ Camera::properties MockCamera::get_properties() {
     return camera_properties_;
 }
 
-Camera::raw_image fake_raw_image() {
-    Camera::raw_image image;
-    image.mime_type = "JPEG";
-    image.source_name = "";
-    std::vector<unsigned char> bytes = {'a', 'b', 'c'};
-    image.bytes = bytes;
-    return image;
-}
-
 Camera::image_collection fake_raw_images() {
     Camera::image_collection collection;
     std::vector<Camera::raw_image> images;
@@ -119,7 +107,6 @@ Camera::properties fake_properties() {
 std::shared_ptr<MockCamera> MockCamera::get_mock_camera() {
     auto camera = std::make_shared<MockCamera>("mock_camera");
 
-    camera->image_ = fake_raw_image();
     camera->images_ = fake_raw_images();
     camera->pc_ = fake_point_cloud();
     camera->camera_properties_ = fake_properties();

src/viam/sdk/tests/mocks/camera_mocks.hpp

@@ -11,7 +11,6 @@ using namespace viam::sdk;
 class MockCamera : public Camera {
    public:
     ProtoStruct do_command(const ProtoStruct& command) override;
-    raw_image get_image(std::string mime_type, const sdk::ProtoStruct& extra) override;
     image_collection get_images(std::vector<std::string> filter_source_names,
                                 const sdk::ProtoStruct& extra) override;
     point_cloud get_point_cloud(std::string mime_type, const sdk::ProtoStruct& extra) override;
@@ -31,7 +30,6 @@ class MockCamera : public Camera {
     Camera::intrinsic_parameters intrinsic_parameters_;
     Camera::distortion_parameters distortion_parameters_;
     Camera::properties camera_properties_;
-    Camera::raw_image image_;
     Camera::image_collection images_;
     Camera::point_cloud pc_;
     ProtoStruct map_;
@@ -40,7 +38,6 @@ class MockCamera : public Camera {
     ProtoStruct last_extra_;
 };
 
-Camera::raw_image fake_raw_image();
 Camera::image_collection fake_raw_images();
 Camera::point_cloud fake_point_cloud();
 Camera::intrinsic_parameters fake_intrinsic_parameters();

src/viam/sdk/tests/test_camera.cpp

@@ -31,16 +31,6 @@ BOOST_AUTO_TEST_CASE(mock_get_api) {
     BOOST_CHECK_EQUAL(static_api.resource_subtype(), "camera");
 }
 
-BOOST_AUTO_TEST_CASE(test_get_image) {
-    std::shared_ptr<MockCamera> mock = MockCamera::get_mock_camera();
-    client_to_mock_pipeline<Camera>(mock, [](Camera& client) {
-        Camera::raw_image image = client.get_image("JPEG");
-        Camera::raw_image expected_image = fake_raw_image();
-
-        BOOST_CHECK(expected_image == image);
-    });
-}
-
 BOOST_AUTO_TEST_CASE(test_get_images) {
     std::shared_ptr<MockCamera> mock = MockCamera::get_mock_camera();
     client_to_mock_pipeline<Camera>(mock, [](Camera& client) {