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Author: hexbabe

src/components/camera/camera.ts

@@ -17,9 +17,16 @@ export interface Properties {
   frameRate?: number;
 }
 
+export interface NamedImage {
+  sourceName: string;
+  image: Uint8Array;
+  mimeType: string;
+}
+
 export type MimeType =
   | ''
   | 'image/vnd.viam.rgba'
+  | 'image/vnd.viam.depth'
   | 'image/jpeg'
   | 'image/png'
   | 'pointcloud/pcd'
@@ -64,6 +71,28 @@ export interface Camera extends Resource {
    */
   getImage: (mimeType?: MimeType, extra?: Struct) => Promise<Uint8Array>;
 
+  /**
+   * Return a frame from a camera.
+   *
+   * @example
+   *
+   * ```ts
+   * const camera = new VIAM.CameraClient(machine, 'my_camera');
+   * const images = await camera.getImages();
+   * ```
+   * 
+   * 
+   *
+   * TODO(docs): include docs link for get images TS example
+   * @param filterSourceNames - A list of source names to filter the images by.
+   * If empty or undefined, all images will be returned.
+   * @param extra - Extra parameters to pass to the camera.
+   */
+  getImages: (
+    filterSourceNames?: string[],
+    extra?: Struct
+  ) => Promise<NamedImage[]>;
+
   /**
    * Render a frame from a camera to an HTTP response.
    *

src/components/camera/client.ts

@@ -3,7 +3,9 @@ import type { CallOptions, PromiseClient } from '@connectrpc/connect';
 import { GetPropertiesRequest } from '../../gen/component/base/v1/base_pb';
 import { CameraService } from '../../gen/component/camera/v1/camera_connect';
 import {
+  Format,
   GetImageRequest,
+  GetImagesRequest,
   GetPointCloudRequest,
   RenderFrameRequest,
 } from '../../gen/component/camera/v1/camera_pb';
@@ -15,6 +17,27 @@ import { GetGeometriesRequest } from '../../gen/common/v1/common_pb';
 
 const PointCloudPCD: MimeType = 'pointcloud/pcd';
 
+// TODO(RSDK-11729): remove helper and format field once removed from proto
+const formatToMimeType = (format: Format): MimeType => {
+  switch (format) {
+    case Format.RAW_RGBA: {
+      return 'image/vnd.viam.rgba';
+    }
+    case Format.JPEG: {
+      return 'image/jpeg';
+    }
+    case Format.PNG: {
+      return 'image/png';
+    }
+    case Format.RAW_DEPTH: {
+      return 'image/vnd.viam.depth';
+    }
+    case Format.UNSPECIFIED: {
+      return '';
+    }
+  }
+}
+
 /**
  * A gRPC-web client for the Camera component.
  *
@@ -59,6 +82,28 @@ export class CameraClient implements Camera {
     return resp.image;
   }
 
+  async getImages(
+    filterSourceNames: string[] = [],
+    extra = {},
+    callOptions = this.callOptions
+  ) {
+    const request = new GetImagesRequest({
+      name: this.name,
+      filterSourceNames,
+      extra: Struct.fromJson(extra),
+    });
+
+    this.options.requestLogger?.(request);
+
+    const resp = await this.client.getImages(request, callOptions);
+
+    return resp.images.map((image) => ({
+      sourceName: image.sourceName,
+      image: image.image,
+      mimeType: image.mimeType || formatToMimeType(image.format),
+    }));
+  }
+
   async renderFrame(
     mimeType: MimeType = '',
     extra = {},