Missing Documentation On IMU stream

[paulijosey]

Since version 1.1.2 imu data streaming should be possible. The thing missing is documentation on how to achive this task.
I have noticed though that the function receive_imu_data is now available and tried implementing that in a simmilar way to the video stream in the "match gaze and video" async example:

1. create queues and processes

        restart_on_disconnect = True
        queue_cam_outward = asyncio.Queue()
        queue_gaze = asyncio.Queue()
        queue_imu = asyncio.Queue()
        
        process_cam_outward = asyncio.create_task(
            self.enqueue_sensor_data(
                receive_video_frames(self.cam_outward.url, run_loop=restart_on_disconnect),
                queue_cam_outward,
            )
        )
        process_imu = asyncio.create_task(
            self.enqueue_sensor_data(
                receive_imu_data(self.cam_outward.url, run_loop=restart_on_disconnect),
                queue_imu,
            )
        )
        process_gaze = asyncio.create_task(
            self.enqueue_sensor_data(
                receive_gaze_data(self.gaze.url, run_loop=restart_on_disconnect),
                queue_gaze,
            )
        )

2. Loop and match

      try:
            # match queues
            while True:
                video_datetime, frame = await self.get_most_recent_item(queue_cam_outward)
                _, gaze = await self.get_closest_item(queue_gaze, video_datetime)
                _, imu  = await self.get_closest_item(queue_imu,  video_datetime)

Now though I get following error when running this:

Unable to parse imu data RTSPData(raw=b"\\\x81\xfc\x06\x7fM\xfe8\xf5\xd7\xa5\xd7!\x9f\xbe'\xbe\xfb\xcf\\\x87\xee^\xc6S\xd7~\xfeN\x97\xcb\xa7?\xf2\xe9~^\xd5q\x12\xaaj\x9f\xda\xf0O\xdaV\xb3\xe3}\xf44?.\\\xb4\xbb\xef\xf7\xe9y\xbd\xd7g\xb5\x89\xe8\xecW%xK\x90gg\xe6\xb0t\x0e^A\xa3+_\xf7~\x1b\xe45\x1eNp\x9a\xff@/0K\xb7\xec\xdb\x7f1\xeb\xbe\xad7GdGV\xbe\xc6t\x0f\xdct\xd3\xf5\xde\xff\x93\xda\xf1\xf6*\x8d\x9f\xb3\xd7\xda\xae\x13\x91\x99X\xb5\xfcV\x89\xeb\xa2\\\xdd\x14O \xde\xef\x94b]<r\x8e\xe4\xf6\x81/f\xa5\xae\x10\x1b\xaa\xd7\xde\xba\xbf\xcd\xaf\xe5:\xeb\xe4\xeb6.A\x88\xcf\xc8\x94\xf99\x8f\xbd\x08T\x8b\xc82\x97\xe4\xdf\xf7\xd3\xf9=/\x1dnc\x1e\xd5\x97|\x94\xbf\x9b}\xf2\xf7\x9fD\xba\xf5S>\xf1\x9c\xdc\xcfa\x02\x8c\xff8e\x7f\xa0\x12\xec$\xbdtw\xfa\xda~_K\xc1'\xbfW6\xba\xea\xdfV\xb1\n!\x84B\xb8\xbeA\x9a\xd5\xc6_\xb1mJo6\xd5\xf8\xc9\xa9\xfaU$\xbd\x97\xe1\x0fOk\xa5\xf1^\x87D\xda\xf8\x9a\xcf\x0f\x8e\xd7\xe3\xe5\x9f\xd2!.g\x93\x88\xa0\xbfMm\xec\xf3\xd6\x0by\x0f\x7f\xa2\x9a~\x9c\x17\x9c2\xbf\xd0\x08\xe2\x10\xca\xc7+}Z\xb9;\xfc_\xbe\xf7\xc4W\xf5\\\xbdV7\x0fy\xa4\x10\xac\xcb\xcbK\xa1\x0b'$\x86\xd9\xfeA\x8d\x7f$2\x9e\xaf\xf8O4\xbb_\x8b\xda\xe6\x87\xe2gA\xe3-\xf3\xfc!@\xec\x1d\xaf\x9a_\x15\x9c\xe5\xad\x15\xf1}\xae5y\x91/)\xf2\xe4@\x99\xe0\xa7_a.\x9f\xa0\x9d}o\x1d\xc9U\xd7W\xbeK\xf0\x95\xc8jz\xe42+}~&d\x80\xa3-\x91\x8d\x1b*/-\x17'1\x9a\xfeS\xb5\xfc\x86\xe6D\xbb?H\x11\xf2\xeb\x8a\xe6\xd7{1\xb8\xfao\x87\x02u\xdd\xfe\x80O\x9b]\xf2W\xfa\xd7\xd6\xbe\xb7\xae\xb5(\x9e\x86\xf7\xf9*\xb8\xae\xaf\\\x95\xe4\xea\xe4Oc7\xaen\xcf\xe4\xc5\xaf\xdd\x05\xfd\x1b\xab\xb0\x9b\\\x11\xf42\xa5\xe4:\xf3u\xef\x98\xda_&\xf5\xec^Q\xba\xfd[\xe6\xdf\\\x9b\xe4\xe6\xaf\\\x12Uz\xf8#\xbb\xf5/{\xef\xbe\xaa\xa1\xe0\xfcWW\xc4/\x9a\xf9\xbaS\x8d\xef\xf3\x0c\xa5\x85\x86\xc6\xfd\xe8\xdd*\xaf\xca3J\xb9=\xcb\xcb\xd89.\xe69\xfcT\xb9\xe9J\xc7\x89\xf4{_\x1d\x9a\x1eR;^g \x846\xb0\xb6!q\x0b\\\xc6\x95N\xf5\xf5\x7f\xa3\xf5\n%}r\xbe\xbd\xf5\xea\xe0\xa3\xbb\xef\xef\xab\xfc\xdd~\xfb\xd77_\xbe\xee\x84)\xa8nZ\xf5\xc9\xaf\xef}uxC\xb1\x89\xf0\x88\x98\xd9&\xc9\xca2\x8b|FV\xe8\x19T\xfe#\xd9\xd1~C%J\xfb<\xe4\xb467\xfb\x9eCO\x98\x8eY\xf3\xc4#\xdf\x13\xd2\x9f:\xee\xff\x9e\xf9F\x19\x06\x89\x87\xe57w\xca7_\x94\xfd}{\xeb\xdf^\xfb\xbb\xe6\xe6\xeb\x13\xd5\xfe\xaf\t\x0c_\xe1\x0ect\xb5\xbe\xcdk'}\xaa\xe5\xcc\xa7\x11\xccz\xe1!3\xc9\xca3O\xe65\t\n\xf9\xb6Z\xee\x97\xf0B\x13\xbe\xf2ui\xba\xbf\xcb\xae\xf9\xb7\xc8\xf0\xff\xea\xd5\xd6\xa1\xaeok\xccm\x99\xad\xdf\xadqF\xce\x93\xd9\x97\xb1\xab\xdf0\xce\xa5\xee\xc2\xe1\x8ea\xaf\x7f\xbe\xb5\xce5\x7f\xa0\x12\xe4\x0fr\xca\xec\xecH\xd0\xe3\xa7j\xac\xdd\x7f\xc5\x1b^\x9f\xcb\xeaH<\xfd\rbA9q\x89\xc9#s{:\x83\xf2Lm\xf9\xa57iqch\xfe\xe6\xe5\x19O\nf\xf94\x17\x9771\xf6\x7f\tx\xef\x8eA\xfeC\xef\xf2o\x93\x98e\x7f,\xcc\xff!\xef\x89\xe8\xed\xf5hDb\xb4\xd7\xd8K\xb1\xf8\xad\xfa\xfe8\xfc}\xf1\xa0\xff1\xba\xd8F\x88\x88v\xfd\x8f)\xd8\xd3\xf8\x9d\x8b\xd5\xf1n\xd7Y\xdena\x9d\xa5z\x96M\x9f\xe4\xa2\xe6\xe5\x1b\xd2\xf3v\x92\n\r\xf5|\xc3:\x063\x9a\xc4\xf7\x0c\xf3\r\xe9\x1f\x9cj\xff@%\xd8a\xb9X\xf8\xafc\xae\xc5\x10j^\xb5\xf5\xaf\xab\xfd^\xf9u\xcd\xcc3\\\xbe\t\xc2\x9e\x9f\xc2[\xfd|\x9eS'\xe0\x8bG\xc5\x0c\t\x8d\xf9\x86'\xfb6\xc7\xed\x13\xd9\x89\x13\x1b\x89\xe5\xeb\xe49\xbf\x84BV\xfd\x07\xe7c\xcb\xb2n\xa9\x8c=\xfc\x8f\xed\xf5\x88\xaf\xcd\xda\xf8#\x1b\xa5t\x9c\xdd'\xf2\x84\xbaZ\xbdfc\xc5\x9fj\xbc\xbc\x94\xb9\xb8O\xd2O\x89\xae67\xf8\xc1\xbf\xf5\xc83*\x98\xdem\xbf\xcav\xf8\x7f\x8b\x199\x1f\xb6\xb9O\\W.6\x18\x08e\x7f\xcc\x82\xd4\xdc\xdeix\xcfk\x96E\x94l\x96\xd7\xbe\x08F\xedR\xa1W\xeeA\x85$\xda\x07\xf3\x19\xff\x94n\x01F\xea\x9ena\x8d\xf5\xa8\xa10\x9c!\xdd?\xe6\xeb\x0e\x0e$\xd9\xd5\xc2\x01&\xbd\x1d\xa4?\xe4\x1a\xff\xc7\x9bM\xbd\xbe\xcbb\x025=\xcd\xee\xb8\xcf\xa1\x11\x98\xd8\xa7\xae!\xb5\xe77\xfe3\xcc\xde\xd6t\xa4\xc8M\xfd?\x08\xd0=\x03\xce1\xd9\xb3Ayy\xc5~S?\\q\xfa#\x9f\xa1\xfbK]\xe9\xeb", timestamp_unix_seconds=1696504982.2927241)

Traceback (most recent call last):
  File "/usr/local/lib/python3.10/dist-packages/pupil_labs/realtime_api/streaming/imu.py", line 71, in receive
    imu_packet.ParseFromString(data.raw)
  File "/home/vscode/.local/lib/python3.10/site-packages/google/protobuf/message.py", line 199, in ParseFromString
    return self.MergeFromString(serialized)
  File "/home/vscode/.local/lib/python3.10/site-packages/google/protobuf/internal/python_message.py", line 1131, in MergeFromString
    raise message_mod.DecodeError('Unexpected end-group tag.')
google.protobuf.message.DecodeError: Unexpected end-group tag.

The error seems to be in the parsing function from pupil_labs/realtime_api/streaming/imu.py though I might have also initialized the imu wrong (I am using the same url as for the camera since the function "receive_imu_data" is also located under the "video" section).

Any help achiving this task would be apreciated!

[paulijosey]

I fixed the bugs (was related to #47 ). Still I think some documentation would be nice :)

[mkassner]

I agree! Let me see what we can do.