RSDK-13626: Remove getImage, Format helpers, and format field usage

Pre-emptive removal ahead of viamrobotics/api#758 which deletes GetImage,
RenderFrame, and the Format enum from camera.proto. Removes:
- getImage abstract method and mimeToFormat/formatToMime from Camera.java
- getImage implementation from CameraRPCClient.java
- getImage handler and deleted type imports from CameraRPCService.java
- Format import from Media.kt; switches Image.dimensions to use mimeType

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Author: hexbabe

core/sdk/src/main/java/com/viam/sdk/core/component/camera/Camera.java

@@ -2,7 +2,6 @@
 
 import com.google.protobuf.Struct;
 import com.viam.common.v1.Common;
-import com.viam.component.camera.v1.Camera.Format;
 import com.viam.component.camera.v1.Camera.Image;
 import com.viam.sdk.core.component.Component;
 import com.viam.sdk.core.resource.Resource;
@@ -47,13 +46,6 @@ public static Camera fromRobot(final RobotClient robot, final String name) {
     return robot.getResource(Camera.class, named(name));
   }
 
-  /**
-   * @deprecated please utilize getImages instead
-   */
-  @Deprecated
-  public abstract Image getImage(final Format format,
-      final Optional<Struct> extra);
-
   public abstract Entry<List<Image>, Common.ResponseMetadata> getImages(
       final Optional<List<String>> filterSourceNames,
       final Optional<Struct> extra);
@@ -62,35 +54,4 @@ public Entry<List<Image>, Common.ResponseMetadata> getImages() {
     return getImages(Optional.empty(), Optional.empty());
   }
 
-  @Deprecated
-  static Format mimeToFormat(final String mimeType) {
-    switch (mimeType) {
-      case "image/jpeg":
-        return Format.FORMAT_JPEG;
-      case "image/png":
-        return Format.FORMAT_PNG;
-      case "image/vnd.viam.rgba":
-        return Format.FORMAT_RAW_RGBA;
-      case "image/vnd.viam.dep":
-        return Format.FORMAT_RAW_DEPTH;
-      default:
-        return Format.FORMAT_UNSPECIFIED;
-    }
-  }
-
-  @Deprecated
-  static String formatToMime(final Format format) {
-    switch (format) {
-      case FORMAT_JPEG:
-        return "image/jpeg";
-      case FORMAT_PNG:
-        return "image/png";
-      case FORMAT_RAW_RGBA:
-        return "image/vnd.viam.rgba";
-      case FORMAT_RAW_DEPTH:
-        return "image/vnd.viam.dep";
-      default:
-        return "unknown";
-    }
-  }
 }

core/sdk/src/main/java/com/viam/sdk/core/component/camera/CameraRPCClient.java

@@ -48,25 +48,6 @@ public List<Common.Geometry> getGeometries(final Optional<Struct> extra) {
         return client.getGeometries(builder.build()).getGeometriesList();
     }
 
-    @Override
-    @Deprecated
-    /*
-     * @deprecated please utilize getImages instead
-     */
-    public Image getImage(final Format format,
-                          Optional<Struct> extra) {
-        final GetImageRequest.Builder builder = GetImageRequest.newBuilder().
-                setName(getName().getName()).
-                setMimeType(Camera.formatToMime(format));
-        extra.ifPresent(builder::setExtra);
-        final GetImageResponse resp = client.getImage(builder.build());
-        final Image.Builder imgBuilder = Image.newBuilder().
-                setSourceName(getName().getName()).
-                setImage(resp.getImage());
-
-        return imgBuilder.setFormat(Camera.mimeToFormat(resp.getMimeType())).build();
-    }
-
     @Override
     public Entry<List<Image>, ResponseMetadata> getImages(final Optional<List<String>> filterSourceNames,
                                                           final Optional<Struct> extra) {

core/sdk/src/main/java/com/viam/sdk/core/component/camera/CameraRPCService.java

@@ -5,8 +5,6 @@
 import com.viam.common.v1.Common.Geometry;
 import com.viam.common.v1.Common.GetGeometriesResponse;
 import com.viam.common.v1.Common.ResponseMetadata;
-import com.viam.component.camera.v1.Camera.GetImageRequest;
-import com.viam.component.camera.v1.Camera.GetImageResponse;
 import com.viam.component.camera.v1.Camera.GetImagesRequest;
 import com.viam.component.camera.v1.Camera.GetImagesResponse;
 import com.viam.component.camera.v1.Camera.Image;
@@ -51,24 +49,6 @@ public void getGeometries(Common.GetGeometriesRequest request,
     responseObserver.onCompleted();
   }
 
-  @Override
-  @Deprecated
-  /*
-   * @deprecated please utilize getImages instead
-   */
-  public void getImage(GetImageRequest request,
-      StreamObserver<GetImageResponse> responseObserver) {
-    final Camera camera = getResource(
-        Camera.named(request.getName()));
-    final Image result = camera.getImage(Camera.mimeToFormat(request.getMimeType()),
-        Optional.of(request.getExtra()));
-
-    responseObserver.onNext(
-        GetImageResponse.newBuilder().setImage(result.getImage())
-            .setMimeType(Camera.formatToMime(result.getFormat())).build());
-    responseObserver.onCompleted();
-  }
-
   @Override
   public void getImages(GetImagesRequest request,
       StreamObserver<GetImagesResponse> responseObserver) {

core/sdk/src/main/kotlin/com/viam/sdk/core/util/Media.kt

@@ -1,7 +1,6 @@
 @file:JvmName("MediaUtils")
 package com.viam.sdk.core.util
 
-import com.viam.component.camera.v1.Camera.Format
 import com.viam.component.camera.v1.Camera.Image
 import java.nio.ByteBuffer
 
@@ -18,7 +17,6 @@ data class ImageDimensions(val width: Int, val height: Int) {
  * Get the dimensions of an image from its data and mime-type.
  *
  * Only specific mime-types are supported: PNG, JPEG, and a custom vnd.viam.rgba.
- * The corresponding [Format] are [Format.FORMAT_PNG], [Format.FORMAT_JPEG], and [Format.FORMAT_RAW_RGBA].
  *
  * @param image    the byte data of the image
  * @param mimeType the mime-type of the image
@@ -37,25 +35,25 @@ fun getDimensions(image: Iterable<Byte>, mimeType: String): ImageDimensions {
 }
 
 /**
- * The dimensions of the image, if [Image.getFormat] returns a supported [Format].
+ * The dimensions of the image based on its mime type.
  * See [getDimensions] for more details.
  */
 val Image.dimensions: ImageDimensions?
     get() = try {
-        getDimensions(this.image, this.format.name)
+        getDimensions(this.image, this.mimeType)
     } catch (e: Exception) {
         null
     }
 
 /**
- * The width of the image, if [Image.getFormat] returns a supported [Format].
+ * The width of the image based on its mime type.
  * See [getDimensions] for more details.
  */
 val Image.width: Int?
     get() = this.dimensions?.width
 
 /**
- * The height of the image, if [Image.getFormat] returns a supported [Format].
+ * The height of the image based on its mime type.
  * See [getDimensions] for more details.
  */
 val Image.height: Int?