[RSDK-556] remove width/height from GetImage response and create cust… (viamrobotics#1447)

Author: gvaradarajan

components/camera/camera.go

@@ -211,7 +211,7 @@ func (vs *videoSource) NextPointCloud(ctx context.Context) (pointcloud.PointClou
 	if err != nil {
 		return nil, err
 	}
-	dm, err := rimage.ConvertImageToDepthMap(img)
+	dm, err := rimage.ConvertImageToDepthMap(ctx, img)
 	if err != nil {
 		return nil, errors.Wrapf(err, "cannot project to a point cloud")
 	}
@@ -474,7 +474,7 @@ func SimultaneousColorDepthNext(ctx context.Context, color, depth gostream.Video
 		if err != nil {
 			panic(err)
 		}
-		dm, err = rimage.ConvertImageToDepthMap(d)
+		dm, err = rimage.ConvertImageToDepthMap(ctx, d)
 		if err != nil {
 			panic(err)
 		}

components/camera/camera_test.go

@@ -283,7 +283,8 @@ type simpleSource struct {
 }
 
 func (s *simpleSource) Read(ctx context.Context) (image.Image, func(), error) {
-	img, err := rimage.NewDepthMapFromFile(artifact.MustPath(s.filePath + ".dat.gz"))
+	img, err := rimage.NewDepthMapFromFile(
+		context.Background(), artifact.MustPath(s.filePath+".dat.gz"))
 	return img, func() {}, err
 }
 
@@ -292,7 +293,8 @@ type simpleSourceWithPCD struct {
 }
 
 func (s *simpleSourceWithPCD) Read(ctx context.Context) (image.Image, func(), error) {
-	img, err := rimage.NewDepthMapFromFile(artifact.MustPath(s.filePath + ".dat.gz"))
+	img, err := rimage.NewDepthMapFromFile(
+		context.Background(), artifact.MustPath(s.filePath+".dat.gz"))
 	return img, func() {}, err
 }
 
@@ -463,7 +465,7 @@ func TestCameraWithProjector(t *testing.T) {
 	test.That(t, got, test.ShouldBeTrue)
 
 	img, _, err := camera.ReadImage(
-		gostream.WithMIMETypeHint(context.Background(), rutils.WithLazyMIMEType(rutils.MimeTypePNG)),
+		gostream.WithMIMETypeHint(context.Background(), rutils.MimeTypePNG),
 		cam2)
 	test.That(t, err, test.ShouldBeNil)