From d8c1d64f871744af3ba07ebf8c7529c2df9a552d Mon Sep 17 00:00:00 2001
From: Sierra Guequierre <sguequierre@gmail.com>
Date: Fri, 31 Jan 2025 17:40:41 -0500
Subject: [PATCH] DOCS-3471: Update camera.md remove stream from Go camera
 interface (#3942)

---
 docs/dev/_index.md                            |  6 ++---
 docs/dev/reference/apis/components/camera.md  |  2 +-
 .../services/vision/color_detector.md         | 12 +++++-----
 .../reference/services/vision/mlmodel.md      | 24 +++++++++----------
 4 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/docs/dev/_index.md b/docs/dev/_index.md
index 9482f107aa..4a9639d00c 100644
--- a/docs/dev/_index.md
+++ b/docs/dev/_index.md
@@ -478,9 +478,7 @@ for d in detections:
 ```go
 // Get image from camera stream on construction site
 myCamera, err := camera.FromRobot(machine, "construction-site-cam")
-camStream, err := myCamera.Stream(context.Background())
-img, release, err := camStream.Next(context.Background())
-defer release()
+img, err = camera.DecodeImageFromCamera(context.Background(), utils.MimeTypeJPEG, nil, myCamera)
 
 // Use machine learning model to gather information from the image
 visService, err := vision.FromRobot(machine, "hardhat_detector")
@@ -494,6 +492,8 @@ for i := 0; i < len(detections); i++ {
 }
 ```
 
+Be sure to import `"go.viam.com/rdk/utils"` at the beginning of your file.
+
 {{% /tab %}}
 {{< /tabs >}}
 
diff --git a/docs/dev/reference/apis/components/camera.md b/docs/dev/reference/apis/components/camera.md
index 1156efd89d..129c3dd27b 100644
--- a/docs/dev/reference/apis/components/camera.md
+++ b/docs/dev/reference/apis/components/camera.md
@@ -16,7 +16,7 @@ The camera API allows you to give commands to your [camera components](/operate/
 
 The API for camera components allows you to:
 
-- Request single images or a stream in 2D color, or display z-depth.
+- Request single images in 2D color, or display z-depth.
 - Request a point cloud.
   Each 3D point cloud image consists of a set of coordinates (x,y,z) representing depth in mm.
 
diff --git a/docs/operate/reference/services/vision/color_detector.md b/docs/operate/reference/services/vision/color_detector.md
index 595ad7603b..222722413a 100644
--- a/docs/operate/reference/services/vision/color_detector.md
+++ b/docs/operate/reference/services/vision/color_detector.md
@@ -211,6 +211,7 @@ import (
   "go.viam.com/rdk/config"
   "go.viam.com/rdk/services/vision"
   "go.viam.com/rdk/components/camera"
+  "go.viam.com/rdk/utils"
 )
 
 // Grab the camera from the machine
@@ -237,12 +238,11 @@ if len(directDetections) > 0 {
 // If you need to store the image, get the image first
 // and then run detections on it. This process is slower:
 
-// Get the stream from a camera
-camStream, err := myCam.Stream(context.Background())
-
-// Get an image from the camera stream
-img, release, err := camStream.Next(context.Background())
-defer release()
+// Get an image from the camera decoded as an image.Image
+img, err = camera.DecodeImageFromCamera(context.Background(), utils.MimeTypeJPEG, nil, myCam)
+if err != nil {
+    logger.Fatalf("Could not decode image from camera: %v", err)
+}
 
 // Apply the color classifier to the image from your camera (configured as "cam1")
 detectionsFromImage, err := myDetector.Detections(context.Background(), img, nil)
diff --git a/docs/operate/reference/services/vision/mlmodel.md b/docs/operate/reference/services/vision/mlmodel.md
index fa307e857c..59d4667f85 100644
--- a/docs/operate/reference/services/vision/mlmodel.md
+++ b/docs/operate/reference/services/vision/mlmodel.md
@@ -342,6 +342,7 @@ import (
   "go.viam.com/rdk/config"
   "go.viam.com/rdk/services/vision"
   "go.viam.com/rdk/components/camera"
+  "go.viam.com/rdk/utils"
 )
 
 cameraName := "cam1"
@@ -367,12 +368,11 @@ if len(directDetections) > 0 {
 // If you need to store the image, get the image first
 // and then run detections on it. This process is slower:
 
-// Get the stream from a camera
-camStream, err := myCam.Stream(context.Background())
-
-// Get an image from the camera stream
-img, release, err := camStream.Next(context.Background())
-defer release()
+// Get an image from the camera decoded as an image.Image
+img, err = camera.DecodeImageFromCamera(context.Background(), utils.MimeTypeJPEG, nil, myCam)
+if err != nil {
+    logger.Fatalf("Could not decode image from camera: %v", err)
+}
 
 // Apply the color classifier to the image from your camera (configured as "cam1")
 detectionsFromImage, err := myDetector.Detections(context.Background(), img, nil)
@@ -423,6 +423,7 @@ import (
   "go.viam.com/rdk/config"
   "go.viam.com/rdk/services/vision"
   "go.viam.com/rdk/components/camera"
+  "go.viam.com/rdk/utils"
 )
 
 cameraName := "cam1"
@@ -448,12 +449,11 @@ if len(directClassifications) > 0 {
 // If you need to store the image, get the image first
 // and then run classifications on it. This process is slower:
 
-// Get the stream from a camera
-camStream, err := myCam.Stream(context.Background())
-
-// Get an image from the camera stream
-img, release, err := camStream.Next(context.Background())
-defer release()
+// Get an image from the camera decoded as an image.Image
+img, err = camera.DecodeImageFromCamera(context.Background(), utils.MimeTypeJPEG, nil, myCam)
+if err != nil {
+    logger.Fatalf("Could not decode image from camera: %v", err)
+}
 
 // Apply the color classifier to the image from your camera (configured as "cam1")
 // Get the top 2 classifications with the highest confidence scores