RSDK-5637 Remove mime type inference of PCD within get_image (#481)

Co-authored-by: hexbabe <[email protected]>

Author: hexbabe

src/viam/components/camera/service.py

@@ -43,11 +43,7 @@ async def GetImage(self, stream: Stream[GetImageRequest, GetImageResponse]) -> N
         try:
             if not request.mime_type:
                 if camera.name not in self._camera_mime_types:
-                    props = await camera.get_properties()
-                    if props.supports_pcd:
-                        self._camera_mime_types[camera.name] = CameraMimeType.PCD
-                    else:
-                        self._camera_mime_types[camera.name] = CameraMimeType.JPEG
+                    self._camera_mime_types[camera.name] = CameraMimeType.JPEG
 
                 request.mime_type = self._camera_mime_types[camera.name]