Fix up obstacle depth; Delete custom extra type;

components/camera/collector.go

@@ -99,7 +99,7 @@ func newReadImageCollector(resource interface{}, params data.CollectorParams) (d
 		if err := mimeType.UnmarshalTo(mimeStr); err != nil {
 			return nil, err
 		}
-		img, _, err := camera.Image(ctx, mimeStr.Value, Extra{})
+		img, _, err := camera.Image(ctx, mimeStr.Value, nil)
 		if err != nil {
 			// A modular filter component can be created to filter the readings from a component. The error ErrNoCaptureToStore
 			// is used in the datamanager to exclude readings from being captured and stored.

robot/impl/local_robot_test.go

@@ -94,7 +94,7 @@ func TestConfig1(t *testing.T) {
 	c1, err := camera.FromRobot(r, "c1")
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, c1.Name(), test.ShouldResemble, camera.Named("c1"))
-	outBytes, mimeType, err := c1.Image(context.Background(), rutils.MimeTypeJPEG, camera.Extra{})
+	outBytes, mimeType, err := c1.Image(context.Background(), rutils.MimeTypeJPEG, nil)
 	test.That(t, err, test.ShouldBeNil)
 	pic, err := rimage.DecodeImage(context.Background(), outBytes, mimeType)
 	test.That(t, err, test.ShouldBeNil)

services/vision/obstaclesdepth/obstacles_depth.go

@@ -13,7 +13,6 @@ import (
 	"go.opencensus.io/trace"
 
 	"go.viam.com/rdk/components/camera"
-	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage"
@@ -118,18 +117,14 @@ func (o *obsDepth) buildObsDepth(logger logging.Logger) func(
 
 // buildObsDepthNoIntrinsics will return the median depth in the depth map as a Geometry point.
 func (o *obsDepth) obsDepthNoIntrinsics(ctx context.Context, src camera.VideoSource) ([]*vision.Object, error) {
-	ext, ok := camera.FromContext(ctx)
-	if !ok {
-		ext = camera.Extra{}
-	}
-	imgBytes, mimeType, err := src.Image(ctx, gostream.MIMETypeHint(ctx, utils.MimeTypeRawDepth), ext)
+	imgBytes, mimeType, err := src.Image(ctx, utils.MimeTypeRawDepth, nil)
 	if err != nil {
 		return nil, errors.Errorf("could not get image from %s", src)
 	}
 
 	pic, err := rimage.DecodeImage(ctx, imgBytes, mimeType)
 	if err != nil {
-		return nil, errors.Errorf("could not decode image from %s", src)
+		return nil, errors.New("could not decode image from obstacle depth source(1)")
 	}
 	dm, err := rimage.ConvertImageToDepthMap(ctx, pic)
 	if err != nil {
@@ -157,17 +152,13 @@ func (o *obsDepth) obsDepthWithIntrinsics(ctx context.Context, src camera.VideoS
 	if o.intrinsics == nil {
 		return nil, errors.New("tried to build obstacles depth with intrinsics but no instrinsics found")
 	}
-	ext, ok := camera.FromContext(ctx)
-	if !ok {
-		ext = camera.Extra{}
-	}
-	imgBytes, mimeType, err := src.Image(ctx, gostream.MIMETypeHint(ctx, utils.MimeTypeRawDepth), ext)
+	imgBytes, mimeType, err := src.Image(ctx, utils.MimeTypeRawDepth, nil)
 	if err != nil {
 		return nil, errors.Errorf("could not get image from %s", src)
 	}
 	pic, err := rimage.DecodeImage(ctx, imgBytes, mimeType)
 	if err != nil {
-		return nil, errors.Errorf("could not decode image from %s", src)
+		return nil, errors.New("could not decode image from obstacle depth source(2)")
 	}
 	dm, err := rimage.ConvertImageToDepthMap(ctx, pic)
 	if err != nil {