Combine pipeline by samcyx · Pull Request #2 · UWARG/Auto-AEAC-2026-Task-1-COMP

samcyx · 2026-01-24T19:17:27Z

No description provided.

honzikschenk

Great work so far! Couple comments

honzikschenk · 2026-01-26T23:28:45Z

Basalt_VIO_RTab.py

+        width = 640
+        height = 400
+        # Define sources and outputs
+        left = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B, sensorFps=fps)


One thing I'd look into is if you can instantiate the same sources (predominantly the three cameras) only once and/or if this is an issue in either direction

As in if we can instantiate each camera 0 or multiple times?

For example: the left mono camera gets used in both the object localization and VSLAM pipelines. If we could p.create left once and then feed it into both pipelines, that would presumably be more efficient

honzikschenk · 2026-01-26T23:35:35Z

pipeline-combine.py

+
+    object_tracker.add_object_tracker(pipeline)
+    Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline)
+    pipeline.start()


You'll have to add a while loop (ex: while pipeline.isRunning()) that persists for a designated amount of time (or until the user stops the program) and then pipeline.stop()

Here's an example of this:

with dai.Pipeline() as pipeline: object_tracker.add_object_tracker(pipeline) Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline) pipeline.start() while pipeline.isRunning(): if [END_CONDITION]: pipeline.stop() break

Basalt_VIO_RTab.py

honzikschenk

Some structural changes need to be made, such as consolidating the loops into the main function

honzikschenk · 2026-01-29T00:56:41Z

Basalt_VIO_RTab.py

+        slam.occupancyGridMap.link(rerunViewer.inputGrid)
+        slam.obstaclePCL.link(rerunViewer.inputObstaclePCL)
+        slam.groundPCL.link(rerunViewer.inputGroundPCL)
+        p.start()


You should only start this in the main module once

honzikschenk · 2026-01-29T00:59:01Z

object_tracker.py

+        fps = 0
+        color = (255, 255, 255)
+        pipeline.start()
+        while(pipeline.isRunning()):


You can't capture the program here as it's just meant to be a quick add to the pipeline function

honzikschenk · 2026-01-29T01:42:08Z

airside/oakd/pipeline_combine.py

+
+    object_tracker.add_object_tracker(pipeline)
+    Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline)
+    pipeline.start()


This is the only place the code should start/stop the pipeline and run a continuous loop (this part is correct)

honzikschenk · 2026-01-29T01:51:30Z

pipeline-combine.py

+
+with dai.Pipeline() as pipeline:
+
+    object_tracker.add_object_tracker(pipeline)


Very very small nit but if you could make the two functions formatted the same, that'd be much appreciated

On this note, please rename all the files to be consistent with the rerun_node.py file (snake case)

honzikschenk · 2026-01-29T01:52:42Z

airside/oakd/rerun_node.py

@@ -0,0 +1,66 @@
+import depthai as dai


Currently, this does nothing. You can copy over the logging done in the VIO pipeline to the main script tho to make this output a nice visualization of the map being constructed

I'll make it return the rerunNode then? I'm having some trouble understanding how to handle that object though

If you look at the Basalt VIO example, rerunNode is instantiated (this should be done in the main file now) and then used to log the mapping and other stuff. Just copy over what the example does

honzikschenk · 2026-01-29T23:56:03Z

.gitignore

@@ -0,0 +1,2 @@
+venv/
+notes.txt


Could you delete the pycache files and gitignore the folder

honzikschenk · 2026-01-30T00:00:38Z

airside/oakd/rerun_node.py

@@ -0,0 +1,66 @@
+import depthai as dai


If you look at the Basalt VIO example, rerunNode is instantiated (this should be done in the main file now) and then used to log the mapping and other stuff. Just copy over what the example does

honzikschenk

2 tiny things left

honzikschenk · 2026-02-07T00:00:44Z

pipeline-combine.py

+
+with dai.Pipeline() as pipeline:
+
+    object_tracker.add_object_tracker(pipeline)


On this note, please rename all the files to be consistent with the rerun_node.py file (snake case)

honzikschenk · 2026-02-07T00:01:06Z

pipeline-combine.py

+
+with dai.Pipeline() as pipeline:
+    cameraBundle = CameraBundle(pipeline)
+    object_tracker.add_object_tracker(pipeline)


You should also pass in the camerabundle here

…-2026-Task-1-COMP into combine-pipeline

samcyx added 2 commits January 24, 2026 13:05

setup

dc4d984

combined two example scripts

07e12b7

honzikschenk requested changes Jan 26, 2026

View reviewed changes

honzikschenk and others added 2 commits January 26, 2026 18:49

Merge branch 'main' into combine-pipeline

e61849a

adding main loop

b6233fc

samcyx self-assigned this Jan 28, 2026

helper function to pass along one camera instance

95f03b1

samcyx commented Jan 29, 2026

View reviewed changes

Basalt_VIO_RTab.py Outdated Show resolved Hide resolved

samcyx added 2 commits January 28, 2026 19:38

Functions now use helper functions

5e7a8be

removed while loop

fc78a57

honzikschenk requested changes Jan 29, 2026

View reviewed changes

samcyx added 2 commits January 28, 2026 21:14

addressing comments

f5c1545

removed uneccessary libraries

0da04f6

honzikschenk requested changes Jan 30, 2026

View reviewed changes

moved slam and rerun node to pipeline-combine.py

44c7a61

samcyx marked this pull request as ready for review February 4, 2026 23:59

Merge branch 'main' into combine-pipeline

52eac6f

honzikschenk requested changes Feb 7, 2026

View reviewed changes

samcyx added 8 commits February 6, 2026 20:28

renaming files and passing in cameraBundle

281aa56

Merge branch 'combine-pipeline' of https://github.com/UWARG/Auto-AEAC…

ca1328e

…-2026-Task-1-COMP into combine-pipeline

import fix

9136669

moved folders and linted

cf08fe0

oops

9050c69

...

a17da7e

moved requirements

1bbef64

fix import

b7dd5fe


		with dai.Pipeline() as pipeline:

		object_tracker.add_object_tracker(pipeline)

		@@ -0,0 +1,2 @@
		venv/
		notes.txt No newline at end of file

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samcyx commented Jan 24, 2026

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honzikschenk Jan 28, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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honzikschenk Jan 28, 2026 •

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