[RSDK-9458] Remove 'Stream' from Camera interface

[randhid]

The merge conflicts on Sean's PR will likely be terrible when he gets back in 2.5 weeks, so I'm using this branch to keep it recent.

I also think we're at a point where we can merge. I'm adding the original testing Sean did to the end of this comment.

Requests: @bhaney, could I have a config to test one of the vision services with to ensure DecodeImageFromCamera does not break them?

Original PR + comment

Tests

✅ Test webcam Darwin
✅ Test webcam switch inputs Darwin
✅ Test RTSP with passthrough and without
✅ Test webcam Linux
✅ Test webcam switch inputs Linux
✅ Test transforms (especially test crop + new features) caught a bug
✅ #4635
✅ Test ffmpeg with mediamtx
✅ Test fake
✅ Test image_file
✅ Test OAK-D

Re-testing after long time (my, Sean, vacation)

• Test webcam Darwin (builtin)
• Test webcam switch inputs Darwin (builtin and iPhone)
• Test RTSP with passthrough and without
• Test webcam Linux (stream and GetImage on Logitech C90 Pro)
• Test webcam switch inputs Linux (random driver, Logitech C90 Pro)
• Test transform crop, rotate, and detections
• Test ffmpeg with mediamtx
• Test fake
• Test image_file
• Bijan's config for vision (person detection and other tf model)
• Resizing stream survives reconfigures https://www.loom.com/share/a5a386b91c81428b9a7cdb4f6e71ad6c?sid=d424247a-4eed-43f8-892f-8d12bed94bc5

[hexbabe]

@bhaney I like Rand's idea of testing with a vision config. Could/did you send that over?

[randhid]

@bhaney I like Rand's idea of testing with a vision config. Could/did you send that over?

He sent me a service but @bhaney it's not working with vanilla viam-server, could you send another one over?

[bhaney]

Gave the AV team configs for the following vision services and camera:

• standard detector using mlmodel
• object tracking module (vision module written in Go)
• transform camera for detections

They all passed -- looks good to me

[seanavery]

Looking good to me!

Just want to make sure that we have tested that live streams are ok with the stream server changes (stream wrappers working and ctx handling is not causing issues).

Also heads up that I have an open PR #4738 with a stream server diff so would like to coordinate on rebase strategy here.

[hexbabe]

Gotcha-- some clarifying q's:

Just want to make sure that we have tested that live streams are ok with the stream server changes (stream wrappers working and ctx handling is not causing issues).

What specific behavior should I look out for during testing? What are "stream wrappers"? During my first and second round of testing documented at the top of this page, I just tested live stream and refresh every 1 sec worked as expected.

Also heads up that I have an open PR #4738 with a stream server diff so would like to coordinate on rebase strategy here.

Got it. TY for the pointer. What do you suggest the strategy be?

[seanavery]

What are "stream wrappers"

I am just referring to how we are now stuffing stream with camerautils.VideoSourceFromCamera in the server.

During my first and second round of testing documented at the top of this page, I just tested live stream and refresh every 1 sec worked as expected.

Sounds good! May be good to test dynamic res a bit and verify that nothing hangs when shutting down viam-server.

Got it. TY for the pointer. What do you suggest the strategy be?

Not a big deal for me to rebase -- dont want to hold back this PR.

[hexbabe]

Sounds good! May be good to test dynamic res a bit and verify that nothing hangs when shutting down viam-server.

Gotcha, I'll prob do another final round of testing later, so will watch out for hangs/errors on shutdown and also add dynamic res toggling to the list of things I check for.