RSDK-11732 — Remove feature flag and make GetImages the main code path in stream server #5603
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viambot
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hexbabe
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Dec 18, 2025
robot/web/stream/camera/camera.go
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| imgBytes, err := namedImage.Bytes(ctx) | ||
| if err != nil { | ||
| continue | ||
| } | ||
|
|
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| _, format, err := image.DecodeConfig(bytes.NewReader(imgBytes)) | ||
| if err != nil { | ||
| continue | ||
| } | ||
| if _, ok := StreamableImageMIMETypes[FormatStringToMimeType(format)]; ok { | ||
| return namedImage, nil |
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almost all code except the highlighted is directly copy and pasted from camera2/camera.go (now deleted since it used to be gated behind a feature flag). The FormatStringToMimeType helper is also new along with the corresponding test.
I added this new code because I want the stream server to be more robust i.e. if a mimeType is missing/wrong somehow, we still want to be able to stream if the underlying bytes are healthy. DecodeConfig is a lightweight function that checks the header bytes of the actual image bytes and tells us what the format is for a stronger source of truth vs. mime type.
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oliviamiller
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Dec 19, 2025
seanavery
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Nice DecodeConfig use!
Let me know if you need a hand with manual tests
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https://viam.atlassian.net/browse/RSDK-11732
This PR removes GetImage as the source of frames for image-based live streams. It makes the previously gated by feature flag GetImages path the main and only path.
This is the PR that added the feature flag and GetImages path originally: #5258
Manual Tests