Fix signatures when extra isn't used

Author: hexbabe

components/camera/fake/camera.go

@@ -226,7 +226,7 @@ func (c *Camera) Read(ctx context.Context) (image.Image, func(), error) {
 }
 
 // PointCloud always returns a pointcloud of a yellow to blue gradient, with the depth determined by the intensity of blue.
-func (c *Camera) PointCloud(ctx context.Context, extra map[string]interface{}) (pointcloud.PointCloud, error) {
+func (c *Camera) PointCloud(ctx context.Context, _ map[string]interface{}) (pointcloud.PointCloud, error) {
 	if c.cachePointCloud != nil {
 		return c.cachePointCloud, nil
 	}

components/camera/fake/image_file.go

@@ -147,7 +147,7 @@ func (fs *fileSource) Images(ctx context.Context) ([]camera.NamedImage, resource
 
 // PointCloud returns the point cloud from projecting the rgb and depth image using the intrinsic parameters,
 // or the pointcloud from file if set.
-func (fs *fileSource) PointCloud(ctx context.Context, extra map[string]interface{}) (pointcloud.PointCloud, error) {
+func (fs *fileSource) PointCloud(ctx context.Context, _ map[string]interface{}) (pointcloud.PointCloud, error) {
 	if fs.PointCloudFN != "" {
 		return pointcloud.NewFromFile(fs.PointCloudFN, nil)
 	}
@@ -208,7 +208,7 @@ func (ss *StaticSource) Images(ctx context.Context) ([]camera.NamedImage, resour
 }
 
 // PointCloud returns the point cloud from projecting the rgb and depth image using the intrinsic parameters.
-func (ss *StaticSource) PointCloud(ctx context.Context, extra map[string]interface{}) (pointcloud.PointCloud, error) {
+func (ss *StaticSource) PointCloud(ctx context.Context, _ map[string]interface{}) (pointcloud.PointCloud, error) {
 	if ss.Proj == nil {
 		return nil, transform.NewNoIntrinsicsError("camera intrinsics not found in config")
 	}

components/camera/replaypcd/replaypcd.go

@@ -166,7 +166,7 @@ func newPCDCamera(
 }
 
 // PointCloud returns the next point cloud retrieved from cloud storage based on the applied filter.
-func (replay *pcdCamera) PointCloud(ctx context.Context, extra map[string]interface{}) (pointcloud.PointCloud, error) {
+func (replay *pcdCamera) PointCloud(ctx context.Context, _ map[string]interface{}) (pointcloud.PointCloud, error) {
 	// First acquire the lock, so that it's safe to populate the cache and/or retrieve and
 	// remove the next data point from the cache. Note that if multiple threads call
 	// PointCloud concurrently, they may get data out-of-order, since there's no guarantee

components/camera/transformpipeline/composed.go

@@ -83,7 +83,7 @@ func (dtp *depthToPretty) Close(ctx context.Context) error {
 	return dtp.src.Close(ctx)
 }
 
-func (dtp *depthToPretty) PointCloud(ctx context.Context) (pointcloud.PointCloud, error) {
+func (dtp *depthToPretty) PointCloud(ctx context.Context, _ map[string]interface{}) (pointcloud.PointCloud, error) {
 	ctx, span := trace.StartSpan(ctx, "camera::transformpipeline::depthToPretty::PointCloud")
 	defer span.End()
 	if dtp.cameraModel == nil || dtp.cameraModel.PinholeCameraIntrinsics == nil {

components/camera/transformpipeline/pipeline.go

@@ -148,7 +148,7 @@ func (tp transformPipeline) Read(ctx context.Context) (image.Image, func(), erro
 	return camera.ReadImage(ctx, tp.src)
 }
 
-func (tp transformPipeline) PointCloud(ctx context.Context, extra map[string]interface{}) (pointcloud.PointCloud, error) {
+func (tp transformPipeline) PointCloud(ctx context.Context, _ map[string]interface{}) (pointcloud.PointCloud, error) {
 	ctx, span := trace.StartSpan(ctx, "camera::transformpipeline::PointCloud")
 	defer span.End()
 	if lastElem, ok := tp.pipeline[len(tp.pipeline)-1].(camera.PointCloudSource); ok {

components/camera/transformpipeline/segmenter.go

@@ -70,7 +70,7 @@ func (cfg *segmenterConfig) Validate(path string) ([]string, error) {
 }
 
 // PointCloud function calls a segmenter service on the underlying camera and returns a pointcloud.
-func (ss *segmenterSource) PointCloud(ctx context.Context, extra map[string]interface{}) (pointcloud.PointCloud, error) {
+func (ss *segmenterSource) PointCloud(ctx context.Context, _ map[string]interface{}) (pointcloud.PointCloud, error) {
 	ctx, span := trace.StartSpan(ctx, "camera::transformpipeline::segmenter::PointCloud")
 	defer span.End()