My branch

docs/source/device.rst

@@ -2,7 +2,7 @@
 Device
 ============
 
-Device is a higher level class that contains functionality to collect data from the camrea. 
+Device is a higher level class that contains functionality to collect data from the camera. 
 
 To set up and intialize device:
 

docs/source/driver.rst

@@ -32,12 +32,6 @@ To see if there are other devices currently connected to your PC:
 
    print(driver.find_devices())
 
-In order to test if your device is connected and color image and depth piplines are configured:
-
-.. code-block:: python
-
-   driver.live_stream_test()
-
 Set laser intensity function:
 
 .. code-block:: python

docs/source/stream.rst

@@ -10,24 +10,24 @@ These are the different functions that you can run:
 
  .. code-block:: python
 
-    record.plt_live_stream()
+    stream.plt_live_stream()
 
  * To show a live plot of the IMU readings:
 
   .. code-block:: python
 
-      record.IMU_live_plotting(dt = 1)
+      stream.IMU_live_plotting(dt = 1)
 
  * To stream data that is already stored into the buffer as a replay.
 
   .. code-block:: python
 
-      recorder.stream_buffer()
+      stream.stream_buffer()
 
  * To livestream the data as it is coming in from the circular buffers:
 
   .. code-block:: python
 
-      recorder.cv2_live_stream_buffer()
+      stream.cv2_live_stream_buffer()
 
 

docs/source/usage.rst

@@ -2,7 +2,7 @@
 Usage
 =====
 
-The driver class is deisgned to run the intel realsense cameras. It is speciically designed to run L151 and D435i.
+The driver class is deisgned to run the intel realsense cameras. It is specifically designed to run L151 and D435i.
 it may run with other models but some functionaity may break down.
 
 System design:
@@ -43,8 +43,20 @@ For the L515 camera:
 
 * Acceleration Output Data Rate 100Hz/200Hz/400Hz
 * Gyroscope Output Data Rate 100Hz/200Hz/400Hz
-
-Recording Data
+
+Applications
+-------------
+There are two different applications:
+
+* Recorder
+
+The recorder is able to collect data while livestreaming it. You can find more information in recorder.rst
+
+* Stream
+
+There are diffent functionalities in this class such as live streaming images using different python modules and live ploting of IMU data. You can find more information in stream.rst.
+
+Recorder
 ---------------
 
 All the functionality to collect data and store it in a file is already done for you in the record script.
@@ -53,11 +65,12 @@ In order to run it, you will need a config file and a h5py file to save data int
 To collect the data run the following script:
 
 .. code-block:: python    
-
-      # IT MUST BE IN THIS ORDER  
-      python recorder.py "YOUR CONFIG FILE" "YOUR H5PY FILE"
-      # my example
-      python recorder.py "test_files\config_L151_f1320305.yaml" "test_files\test.h5py"
+
+   import intel_realsense_devices
+   # IT MUST BE IN THIS ORDER  
+   python recorder.py "YOUR CONFIG FILE" "YOUR H5PY FILE"
+   # my example
+   python recorder.py "test_files\config_L151_f1320305.yaml" "test_files\test.h5py"
 
 
 The data will be stored into a H5PY file where the dataset names are ['accel', 'color', 'depth', 'frameN', 'gyro', 'infrared'].

intel_realsense_devices/device.py

@@ -37,15 +37,12 @@ class Device():
     """
     def __init__(self, config_filename):
         """
-        part 1 to iniatilie the camera
+        initialize all the attributes to set up the device
 
         Parameters:
         ------------
         config_filename: string
             config file path
-
-        h5py_filename: string
-            h5py file path
         """
 
         # Create a context object. This object owns the handles to all connected realsense devices  
@@ -229,7 +226,7 @@ def io_pull(self, io_dict):
     else:
         debug('reading default config file')
         config_filename = r"C:\Users\Abdel Nasser\Documents\L151 Camera\intel-realsense-devices\intel_realsense_devices\test_files\config_d435i__139522074713.yaml"
-        config_filename = "test_files\config_L515_f1231322.yaml"
+        # config_filename = "test_files\config_L515_f1231322.yaml"
 
         info(config_filename)
 

intel_realsense_devices/higher_applications/recorder.py

@@ -48,10 +48,8 @@ def start(self):
         self.device.start()
         threads["record"] = new_thread(self.record)
 
-        from intel_realsense_devices.higher_applications.stream import Stream
-
-        stream = Stream(self.config_filename)
-        stream.cv2_live_stream_buffer()
+        from intel_realsense_devices.higher_applications.stream import cv2_live_stream_buffer
+        cv2_live_stream_buffer(self.device)
 
     def stop(self):
         """ 
@@ -107,7 +105,7 @@ def save_h5py_file(self):
 
     def read_h5py_file(self):
         """
-        reads the hp5y file data sets, For testing
+        reads the hp5y file data set name, For testing
 
         Parameters:
         ----------

intel_realsense_devices/higher_applications/stream.py

@@ -15,6 +15,35 @@
 IMAGE = "image"
 FRAMEN = "frameN"
 
+def cv2_live_stream_color_buffer(device):
+    """
+    Live stream images from the buffer via the cv2 lib.
+    Used while collecting data.
+
+    Paremeter:
+    ------------
+    Device Object
+    """
+
+    buffer_length = device.buffers[FRAMEN].get_all().shape[0] # gets the number of frames
+
+    while last_frame < buffer_length:
+
+        last_frame = device.buffers[FRAMEN].get_last_value()[0]
+
+        c = device.buffers[COLOR].get_last_value()
+        color = c[0,:,:, :]
+
+        if color is not None:
+            cv2.imshow("Color", color)
+
+        key = cv2.waitKey(10)
+        if key != -1:
+            cv2.destroyAllWindows()
+            run = False
+
+    cv2.destroyAllWindows()
+
 class Stream():
     "Higher level application that can stream live data from the camera"
 
@@ -25,7 +54,7 @@ def __init__(self, config_filename):
         self.driver = self.device.driver
         self.run = True
 
-    def plt_live_stream(self):
+    def plt_live_stream(self,):
         """
         live stream of images using matplotlib 
         """
@@ -86,17 +115,19 @@ def stream_buffer(self):
                 cv2.destroyAllWindows()
                 self.run = False
 
-    def cv2_live_stream_buffer(self):
+    def cv2_live_stream_buffer(self,):
         """
         Live stream images using the cv2 lib.
         Used while collecting data.
         """
 
         self.device.start()
 
-        while self.run:
+        last_frame = 0 
+        buffer_length = self.device.buffers[FRAMEN].get_all().shape[0] # gets the number of frames
 
-            frames = self.device.buffers[FRAMEN].get_last_value()[0]
+        while last_frame < buffer_length and self.run: 
+            last_frame = self.device.buffers[FRAMEN].get_last_value()[0]
 
             d = self.device.buffers[DEPTH].get_last_value()
             depth = d[0,:,:]
@@ -124,8 +155,8 @@ def Cv2_live_stream(self):
         Stream live images from the camera
         """
         self.device.start()
-
-        while True:
+        
+        while self.run:
             dict = self.device.driver.get_images()
 
             color = dict[COLOR]