Q: My iPhone was stolen and I need to access my information including contacts, texts and camera roll from icloud urgently via my desktop computer...how do I do this?

www.icloud.com for contacts and if you have icloud on, on your computer they should be in Adress Books. Only way to access pictures is if your have photo stream enabled on both devices and text should be gone. the only ones you could retirve is if you have the new iMessage for mac then your text from email to email will be in iMessage for mac

Was your iPhone or iPad stolen? You posted in the iPad forum.

These links may be helpful.

How to Track and Report Stolen iPad

http://www.ipadastic.com/tutorials/how-to-track-and-report-stolen-ipad

Reporting a lost or stolen Apple product

http://support.apple.com/kb/ht2526

Report Stolen iPad Tips and iPad Theft Prevention

http://www.stolen-property.com/report-stolen-ipad.php

How to Find a Stolen iPad

http://www.ehow.com/how_7586429_stolen-ipad.html

Oops! iForgot My New iPad On the Plane; Now What?

http://online.wsj.com/article/SB10001424052702303459004577362194012634000.html

 Cheers, Tom

so can i access my contacts from my desktop computer

You should be able to access your contacts if they were backed up to icloud.  Log into icloud with your Apple ID and password.  If you backed up the device to your computer, they may be accessed there, but I can't tell you exactly where to look,  surely someone more knowledgeable can tell you where to look.