RSDK-11831 — Make ReadImage call GetImages under the hood #5337

hexbabe · 2025-09-30T20:47:53Z

DO NOT MERGE until the breaking change to remove GetImage has been stacked on top of this PR and is also ready to merge. We should merge both together when we are ready for the breaking change December 1st.

Manual Testing:

Realsense with depth configured primary
Realsense with color configured primary

dmhilly

Left two questions! Thanks Sean!

dmhilly · 2025-10-01T21:28:59Z

components/camera/collectors.go

 		ts := data.Timestamps{
 			TimeRequested: timeRequested,
-			TimeReceived:  time.Now(),
+			TimeReceived:  resMetadata.CapturedAt,


Can you remind me why this change?

We assume CapturedAt is more accurate than time.Now() because most of the time CapturedAt is from the frame metadata itself from the underlying camera rather than when we receive the GetImages response, which is what time.Now() expresses.

Cool! Thanks for explaining.

Are we sure the CapturedAt and time.Now() belongs to the same time frame or reference?

CapturedAt, we can assume, does, since it comes from the same resp

dmhilly · 2025-10-01T21:30:02Z

components/camera/collectors.go

+			return res, data.NewFailedToReadError(params.ComponentName, readImage.String(), err)
+		}
+
+		// Select the corresponding image based on requested mime type if provided


Nice! Since the requested mime type was already an argument before, I'm curious if this is how it worked previously, or is this new behavior?

This is new behavior since previously we would be calling GetImage and letting the implementer of GetImage handle the mime type however it wants. Now, we are returning the requested mime type iff we find it in the GetImages response.

I realized this is better than always defaulting to images[0] as we discussed on Slack

Makes sense! This SGTM.

dmhilly

LGTM! Thanks Sean :)

dmhilly · 2025-10-03T17:24:14Z

components/camera/collectors.go

+			return res, data.NewFailedToReadError(params.ComponentName, readImage.String(), err)
+		}
+
+		// Select the corresponding image based on requested mime type if provided


Makes sense! This SGTM.

dmhilly · 2025-10-03T17:24:41Z

components/camera/collectors.go

 		ts := data.Timestamps{
 			TimeRequested: timeRequested,
-			TimeReceived:  time.Now(),
+			TimeReceived:  resMetadata.CapturedAt,


Cool! Thanks for explaining.

SebastianMunozP · 2025-10-16T16:23:41Z

components/camera/collectors.go

+			return res, data.NewFailedToReadError(params.ComponentName, readImage.String(), err)
+		}
+
+		mimeType := data.MimeTypeStringToMimeType(img.MimeType())


Should we verify that this mimeType is valid before using it later?

MimeTypeStringToMimeType returns on an enum, which only contains "valid" values IMO. What kind of verification are you suggesting?

seanavery

LGTM

Wondering if we should also rename the collector from ReadImage->GetImages, but this could be a follow-up.

Are there any plans to actually extend the collector to handle multiple image returns?

hexbabe · 2025-12-16T17:33:35Z

LGTM

Wondering if we should also rename the collector from ReadImage->GetImages, but this could be a follow-up.

Are there any plans to actually extend the collector to handle multiple image returns?

I think there exists a GetImages collector already. Next steps are: https://viam.atlassian.net/browse/RSDK-11721, then https://viam.atlassian.net/browse/RSDK-11734

oliviamiller

lgtm!

viambot added the safe to test This pull request is marked safe to test from a trusted zone label Sep 30, 2025

hexbabe marked this pull request as ready for review September 30, 2025 20:49

viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Sep 30, 2025

hexbabe changed the title ~~[RSDK-11831] — Make ReadImage call GetImages under the hood~~ RSDK-11831 — Make ReadImage call GetImages under the hood Sep 30, 2025

viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Sep 30, 2025

hexbabe force-pushed the RSDK-11831 branch from c29be88 to 99515ab Compare October 1, 2025 12:52

viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Oct 1, 2025

hexbabe requested review from SebastianMunozP, dmhilly, oliviamiller and seanavery October 1, 2025 13:09

dmhilly reviewed Oct 1, 2025

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hexbabe requested a review from dmhilly October 2, 2025 18:53

dmhilly approved these changes Oct 3, 2025

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SebastianMunozP reviewed Oct 16, 2025

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seanavery approved these changes Dec 15, 2025

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SebastianMunozP approved these changes Dec 15, 2025

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hexbabe force-pushed the RSDK-11831 branch from 99515ab to 861a5ff Compare December 16, 2025 17:36

viambot removed the safe to test This pull request is marked safe to test from a trusted zone label Dec 16, 2025

hexbabe requested a review from tahiyasalam December 16, 2025 17:36

viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Dec 16, 2025

viambot added the safe to test This pull request is marked safe to test from a trusted zone label Dec 17, 2025

oliviamiller approved these changes Dec 17, 2025

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tahiyasalam approved these changes Dec 19, 2025

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hexbabe and others added 4 commits December 30, 2025 22:53

Remove feature flag and make the GetImages path the main code path

7753f7e

Fix new decondeconfig logic with helper and test helper

cfceb1e

Make lint

bd13632

For PR stacking (viamrobotics#5622)

88a4295

hexbabe force-pushed the RSDK-11831 branch from c97b8a3 to 6758b60 Compare December 31, 2025 04:10

viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Dec 31, 2025

hexbabe and others added 10 commits December 30, 2025 23:12

For PR stacking 2 (viamrobotics#5624)

b3bf935

PR stacking 3 (viamrobotics#5625)

a60c017

Make sure a color stream is prioritize over depth

3135f56

Make ReadImage call GetImages under the hood

390f543

Select matching mimetype image if available

434bd3f

Remove ctx with value

6d1437f

Fix affected tests

4614c8f

Make lint

414485c

Fix args

83e7d78

Fix failing test

ffc210c

hexbabe force-pushed the RSDK-11831 branch from 6758b60 to ffc210c Compare January 2, 2026 16:15

viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 2, 2026

Merge branch 'RSDK-11831' into RSDK-11831

d9896bd

viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 2, 2026

hexbabe merged commit 75b65ff into viamrobotics:main Jan 5, 2026
19 checks passed

hexbabe deleted the RSDK-11831 branch January 5, 2026 15:09

hexbabe restored the RSDK-11831 branch January 5, 2026 15:09

hexbabe deleted the RSDK-11831 branch January 5, 2026 15:09

RSDK-11831 — Make ReadImage call GetImages under the hood #5337

RSDK-11831 — Make ReadImage call GetImages under the hood #5337

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