From dc4d9840815ee5a03f29eadf852f54a416d68f5e Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Sat, 24 Jan 2026 13:05:53 -0500
Subject: [PATCH 01/16] setup

---
 .gitignore       |  1 +
 requirements.txt |  0
 rerun_node.py    | 66 ++++++++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 67 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 requirements.txt
 create mode 100644 rerun_node.py

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..f7275bb
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+venv/
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..e69de29
diff --git a/rerun_node.py b/rerun_node.py
new file mode 100644
index 0000000..4211b7e
--- /dev/null
+++ b/rerun_node.py
@@ -0,0 +1,66 @@
+import depthai as dai
+import sys
+
+from pathlib import Path
+installExamplesStr = Path(__file__).absolute().parents[2] / 'install_requirements.py --install_rerun'
+try:
+    import rerun as rr
+except ImportError:
+    sys.exit("Critical dependency missing: Rerun. Please install it using the command: '{} {}' and then rerun the script.".format(sys.executable, installExamplesStr))
+
+import cv2
+
+class RerunNode(dai.node.ThreadedHostNode):
+    def __init__(self):
+        dai.node.ThreadedHostNode.__init__(self)
+        self.inputTrans = dai.Node.Input(self)
+        self.inputImg = dai.Node.Input(self)
+        self.inputObstaclePCL = dai.Node.Input(self)
+        self.inputGroundPCL = dai.Node.Input(self)
+        self.inputGrid = dai.Node.Input(self)
+        self.positions = []
+        self.fx = 400.0
+        self.fy = 400.0
+        self.intrinsicsSet = False
+
+    def getFocalLengthFromImage(self, imgFrame):
+        p = self.getParentPipeline()
+        calibHandler = p.getDefaultDevice().readCalibration()
+        intrinsics = calibHandler.getCameraIntrinsics(dai.CameraBoardSocket(imgFrame.getInstanceNum()), imgFrame.getWidth(), imgFrame.getHeight())
+        self.fx = intrinsics[0][0]
+        self.fy = intrinsics[1][1]
+        self.intrinsicsSet = True
+
+
+    def run(self):
+        rr.init("", spawn=True)
+        rr.log("world", rr.ViewCoordinates.FLU)
+        rr.log("world/ground", rr.Boxes3D(half_sizes=[3.0, 3.0, 0.00001])) 
+        while self.isRunning():
+            transData = self.inputTrans.get()
+            imgFrame = self.inputImg.get()
+            if not self.intrinsicsSet:
+                self.getFocalLengthFromImage(imgFrame)
+            pclObstData = self.inputObstaclePCL.tryGet()
+            pclGrndData = self.inputGroundPCL.tryGet()
+            mapData = self.inputGrid.tryGet()
+            if transData is not None:
+                trans = transData.getTranslation()
+                quat = transData.getQuaternion()
+                position = rr.datatypes.Vec3D([trans.x, trans.y, trans.z])
+                rr.log("world/camera", rr.Transform3D(translation=position, rotation=rr.datatypes.Quaternion(xyzw=[quat.qx, quat.qy, quat.qz, quat.qw])))
+                self.positions.append(position)
+                lineStrip = rr.components.LineStrip3D(self.positions)
+                rr.log("world/trajectory", rr.LineStrips3D(lineStrip))
+                rr.log("world/camera/image", rr.Pinhole(resolution=[imgFrame.getWidth(), imgFrame.getHeight()], focal_length=[self.fx, self.fy], camera_xyz=rr.ViewCoordinates.FLU))
+                img = imgFrame.getCvFrame()
+                img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
+                rr.log("world/camera/image/rgb", rr.Image(img))
+                if pclObstData is not None:
+                    points, colors = pclObstData.getPointsRGB()
+                    rr.log("world/obstacle_pcl", rr.Points3D(points, colors=colors, radii=[0.01]))
+                if pclGrndData is not None:
+                    points, colors = pclGrndData.getPointsRGB()
+                    rr.log("world/ground_pcl", rr.Points3D(points, colors=colors, radii=[0.01]))
+                if mapData is not None:
+                    rr.log("map", rr.Image(mapData.getCvFrame()))
\ No newline at end of file

From 07e12b77af2a14ab2e037bcb3acea4913492427e Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Sat, 24 Jan 2026 14:07:43 -0500
Subject: [PATCH 02/16] combined two example scripts

---
 .gitignore          |   1 +
 Basalt_VIO_RTab.py  |  53 +++++++++++++++++++++++
 object_tracker.py   | 100 ++++++++++++++++++++++++++++++++++++++++++++
 pipeline-combine.py |  13 ++++++
 requirements.txt    |   3 ++
 5 files changed, 170 insertions(+)
 create mode 100644 Basalt_VIO_RTab.py
 create mode 100644 object_tracker.py
 create mode 100644 pipeline-combine.py

diff --git a/.gitignore b/.gitignore
index f7275bb..cdf5d40 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
 venv/
+notes.txt
\ No newline at end of file
diff --git a/Basalt_VIO_RTab.py b/Basalt_VIO_RTab.py
new file mode 100644
index 0000000..cb88aee
--- /dev/null
+++ b/Basalt_VIO_RTab.py
@@ -0,0 +1,53 @@
+import time
+import depthai as dai
+from rerun_node import RerunNode
+
+# Create pipeline
+def add_basalt_vio_rtab(p: dai.Pipeline):
+    with p:
+        fps = 60
+        width = 640
+        height = 400
+        # Define sources and outputs
+        left = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B, sensorFps=fps)
+        right = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C, sensorFps=fps)
+        imu = p.create(dai.node.IMU)
+        odom = p.create(dai.node.BasaltVIO)
+        slam = p.create(dai.node.RTABMapSLAM)
+        stereo = p.create(dai.node.StereoDepth)
+        params = {"RGBD/CreateOccupancyGrid": "true",
+                "Grid/3D": "true",
+                "Rtabmap/SaveWMState": "true"}
+        slam.setParams(params)
+
+        rerunViewer = RerunNode()
+        imu.enableIMUSensor([dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW], 200)
+        imu.setBatchReportThreshold(1)
+        imu.setMaxBatchReports(10)
+
+        stereo.setExtendedDisparity(False)
+        stereo.setLeftRightCheck(True)
+        stereo.setSubpixel(True)
+        stereo.setRectifyEdgeFillColor(0)
+        stereo.enableDistortionCorrection(True)
+        stereo.initialConfig.setLeftRightCheckThreshold(10)
+        stereo.setDepthAlign(dai.CameraBoardSocket.CAM_B)
+
+
+        left.requestOutput((width, height)).link(stereo.left)
+        right.requestOutput((width, height)).link(stereo.right)
+        stereo.syncedLeft.link(odom.left)
+        stereo.syncedRight.link(odom.right)
+        stereo.depth.link(slam.depth)
+        stereo.rectifiedLeft.link(slam.rect)
+        imu.out.link(odom.imu)
+
+        odom.transform.link(slam.odom)
+        slam.transform.link(rerunViewer.inputTrans)
+        slam.passthroughRect.link(rerunViewer.inputImg)
+        slam.occupancyGridMap.link(rerunViewer.inputGrid)
+        slam.obstaclePCL.link(rerunViewer.inputObstaclePCL)
+        slam.groundPCL.link(rerunViewer.inputGroundPCL)
+        p.start()
+        while p.isRunning():
+            time.sleep(1)
diff --git a/object_tracker.py b/object_tracker.py
new file mode 100644
index 0000000..f8582db
--- /dev/null
+++ b/object_tracker.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import time
+
+
+fullFrameTracking = False
+
+# Create pipeline
+def add_object_tracker(pipeline: dai.Pipeline):
+    with pipeline:
+        # Define sources and outputs
+        camRgb = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A)
+        monoLeft = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)
+        monoRight = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C)
+
+        stereo = pipeline.create(dai.node.StereoDepth)
+        leftOutput = monoLeft.requestOutput((640, 400))
+        rightOutput = monoRight.requestOutput((640, 400))
+        leftOutput.link(stereo.left)
+        rightOutput.link(stereo.right)
+
+        spatialDetectionNetwork = pipeline.create(dai.node.SpatialDetectionNetwork).build(camRgb, stereo, "yolov6-nano")
+        objectTracker = pipeline.create(dai.node.ObjectTracker)
+
+        spatialDetectionNetwork.setConfidenceThreshold(0.6)
+        spatialDetectionNetwork.input.setBlocking(False)
+        spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)
+        spatialDetectionNetwork.setDepthLowerThreshold(100)
+        spatialDetectionNetwork.setDepthUpperThreshold(5000)
+        labelMap = spatialDetectionNetwork.getClasses()
+
+        objectTracker.setDetectionLabelsToTrack([0])  # track only person
+        # possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS, SHORT_TERM_IMAGELESS, SHORT_TERM_KCF
+        objectTracker.setTrackerType(dai.TrackerType.SHORT_TERM_IMAGELESS)
+        # take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
+        objectTracker.setTrackerIdAssignmentPolicy(dai.TrackerIdAssignmentPolicy.SMALLEST_ID)
+
+        preview = objectTracker.passthroughTrackerFrame.createOutputQueue()
+        tracklets = objectTracker.out.createOutputQueue()
+
+        if fullFrameTracking:
+            camRgb.requestFullResolutionOutput().link(objectTracker.inputTrackerFrame)
+            # do not block the pipeline if it's too slow on full frame
+            objectTracker.inputTrackerFrame.setBlocking(False)
+            objectTracker.inputTrackerFrame.setMaxSize(1)
+        else:
+            spatialDetectionNetwork.passthrough.link(objectTracker.inputTrackerFrame)
+
+        spatialDetectionNetwork.passthrough.link(objectTracker.inputDetectionFrame)
+        spatialDetectionNetwork.out.link(objectTracker.inputDetections)
+
+        startTime = time.monotonic()
+        counter = 0
+        fps = 0
+        color = (255, 255, 255)
+        pipeline.start()
+        while(pipeline.isRunning()):
+            imgFrame = preview.get()
+            track = tracklets.get()
+            assert isinstance(imgFrame, dai.ImgFrame), "Expected ImgFrame"
+            assert isinstance(track, dai.Tracklets), "Expected Tracklets"
+
+            counter+=1
+            current_time = time.monotonic()
+            if (current_time - startTime) > 1 :
+                fps = counter / (current_time - startTime)
+                counter = 0
+                startTime = current_time
+
+            frame = imgFrame.getCvFrame()
+            trackletsData = track.tracklets
+            for t in trackletsData:
+                roi = t.roi.denormalize(frame.shape[1], frame.shape[0])
+                x1 = int(roi.topLeft().x)
+                y1 = int(roi.topLeft().y)
+                x2 = int(roi.bottomRight().x)
+                y2 = int(roi.bottomRight().y)
+
+                try:
+                    label = labelMap[t.label]
+                except:
+                    label = t.label
+
+                cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+                cv2.putText(frame, f"ID: {[t.id]}", (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+                cv2.putText(frame, t.status.name, (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+                cv2.rectangle(frame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
+
+                cv2.putText(frame, f"X: {int(t.spatialCoordinates.x)} mm", (x1 + 10, y1 + 65), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+                cv2.putText(frame, f"Y: {int(t.spatialCoordinates.y)} mm", (x1 + 10, y1 + 80), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+                cv2.putText(frame, f"Z: {int(t.spatialCoordinates.z)} mm", (x1 + 10, y1 + 95), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
+
+            cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)
+
+            cv2.imshow("tracker", frame)
+
+            if cv2.waitKey(1) == ord('q'):
+                break
diff --git a/pipeline-combine.py b/pipeline-combine.py
new file mode 100644
index 0000000..8996bb1
--- /dev/null
+++ b/pipeline-combine.py
@@ -0,0 +1,13 @@
+import Basalt_VIO_RTab
+import rerun_node
+import object_tracker
+import depthai as dai
+# This is the main pipeline-combine.py file that integrates Basalt VIO with RTAB-Map SLAM
+
+
+
+with dai.Pipeline() as pipeline:
+
+    object_tracker.add_object_tracker(pipeline)
+    Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline)
+    pipeline.start()
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
index e69de29..4a85825 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -0,0 +1,3 @@
+depthai
+rerun
+opencv-python
\ No newline at end of file

From b6233fce7c753f771e753c6e54a91ac4f1cb9a09 Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Tue, 27 Jan 2026 21:22:26 -0500
Subject: [PATCH 03/16] adding main loop

---
 pipeline-combine.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/pipeline-combine.py b/pipeline-combine.py
index 8996bb1..8d8005a 100644
--- a/pipeline-combine.py
+++ b/pipeline-combine.py
@@ -10,4 +10,7 @@
 
     object_tracker.add_object_tracker(pipeline)
     Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline)
-    pipeline.start()
\ No newline at end of file
+    pipeline.start()
+    while not KeyboardInterrupt and pipeline.isRunning():
+          pass
+    pipeline.stop()

From 95f03b15990d8591e34f13ffa6844ca21b81f431 Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Wed, 28 Jan 2026 19:32:17 -0500
Subject: [PATCH 04/16] helper function to pass along one camera instance

---
 cameraBundle.py | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)
 create mode 100644 cameraBundle.py

diff --git a/cameraBundle.py b/cameraBundle.py
new file mode 100644
index 0000000..c78befe
--- /dev/null
+++ b/cameraBundle.py
@@ -0,0 +1,16 @@
+import depthai as dai
+
+
+class CameraBundle:
+    """Helper to create and link camera nodes and stereo outputs."""
+    def __init__(self, pipeline: dai.Pipeline, rgb_socket=dai.CameraBoardSocket.CAM_A, left_socket=dai.CameraBoardSocket.CAM_B, right_socket=dai.CameraBoardSocket.CAM_C, mono_resolution=(640, 400)):
+        self.pipeline = pipeline
+        self.camRgb = pipeline.create(dai.node.Camera).build(rgb_socket)
+        self.monoLeft = pipeline.create(dai.node.Camera).build(left_socket)
+        self.monoRight = pipeline.create(dai.node.Camera).build(right_socket)
+
+        self.stereo = pipeline.create(dai.node.StereoDepth)
+        self.leftOutput = self.monoLeft.requestOutput(mono_resolution)
+        self.rightOutput = self.monoRight.requestOutput(mono_resolution)
+        self.leftOutput.link(self.stereo.left)
+        self.rightOutput.link(self.stereo.right)

From 5e7a8beea9ecd6b14cec0c1fe185a378ebfdbc23 Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Wed, 28 Jan 2026 19:38:01 -0500
Subject: [PATCH 05/16] Functions now use helper functions

---
 Basalt_VIO_RTab.py | 11 ++++++-----
 object_tracker.py  | 22 ++++++++++------------
 2 files changed, 16 insertions(+), 17 deletions(-)

diff --git a/Basalt_VIO_RTab.py b/Basalt_VIO_RTab.py
index cb88aee..b6f4fc0 100644
--- a/Basalt_VIO_RTab.py
+++ b/Basalt_VIO_RTab.py
@@ -1,20 +1,21 @@
 import time
 import depthai as dai
 from rerun_node import RerunNode
-
+from cameraBundle import CameraBundle
 # Create pipeline
-def add_basalt_vio_rtab(p: dai.Pipeline):
+def add_basalt_vio_rtab(p: dai.Pipeline, cameras: 'CameraBundle' = None):
     with p:
         fps = 60
         width = 640
         height = 400
         # Define sources and outputs
-        left = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B, sensorFps=fps)
-        right = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C, sensorFps=fps)
+        cameras = CameraBundle(p)
+        left = cameras.monoLeft
+        right = cameras.monoRight
         imu = p.create(dai.node.IMU)
         odom = p.create(dai.node.BasaltVIO)
         slam = p.create(dai.node.RTABMapSLAM)
-        stereo = p.create(dai.node.StereoDepth)
+        stereo = cameras.stereo
         params = {"RGBD/CreateOccupancyGrid": "true",
                 "Grid/3D": "true",
                 "Rtabmap/SaveWMState": "true"}
diff --git a/object_tracker.py b/object_tracker.py
index f8582db..57576cc 100644
--- a/object_tracker.py
+++ b/object_tracker.py
@@ -3,23 +3,21 @@
 import cv2
 import depthai as dai
 import time
-
+from cameraBundle import CameraBundle
 
 fullFrameTracking = False
 
 # Create pipeline
-def add_object_tracker(pipeline: dai.Pipeline):
+
+def add_object_tracker(pipeline: dai.Pipeline, cameras: 'CameraBundle' = None):
     with pipeline:
-        # Define sources and outputs
-        camRgb = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A)
-        monoLeft = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)
-        monoRight = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C)
-
-        stereo = pipeline.create(dai.node.StereoDepth)
-        leftOutput = monoLeft.requestOutput((640, 400))
-        rightOutput = monoRight.requestOutput((640, 400))
-        leftOutput.link(stereo.left)
-        rightOutput.link(stereo.right)
+        cameras = cameras or CameraBundle(pipeline)
+        camRgb = cameras.camRgb
+        monoLeft = cameras.monoLeft
+        monoRight = cameras.monoRight
+        stereo = cameras.stereo
+        leftOutput = cameras.leftOutput
+        rightOutput = cameras.rightOutput
 
         spatialDetectionNetwork = pipeline.create(dai.node.SpatialDetectionNetwork).build(camRgb, stereo, "yolov6-nano")
         objectTracker = pipeline.create(dai.node.ObjectTracker)

From fc78a577f74077e33b53991f0a43cfc8721982a5 Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Wed, 28 Jan 2026 19:40:51 -0500
Subject: [PATCH 06/16] removed while loop

---
 Basalt_VIO_RTab.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/Basalt_VIO_RTab.py b/Basalt_VIO_RTab.py
index b6f4fc0..0f4d5c9 100644
--- a/Basalt_VIO_RTab.py
+++ b/Basalt_VIO_RTab.py
@@ -50,5 +50,4 @@ def add_basalt_vio_rtab(p: dai.Pipeline, cameras: 'CameraBundle' = None):
         slam.obstaclePCL.link(rerunViewer.inputObstaclePCL)
         slam.groundPCL.link(rerunViewer.inputGroundPCL)
         p.start()
-        while p.isRunning():
-            time.sleep(1)
+        time.sleep(2) #buffer time for nodes to start
\ No newline at end of file

From f5c15450f2283fe0b392fa1a4d97e3c5b65dbfdb Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Wed, 28 Jan 2026 21:14:15 -0500
Subject: [PATCH 07/16] addressing comments

---
 Basalt_VIO_RTab.py                          |  21 +++---
 __pycache__/Basalt_VIO_RTab.cpython-312.pyc | Bin 0 -> 4198 bytes
 __pycache__/cameraBundle.cpython-312.pyc    | Bin 0 -> 2116 bytes
 __pycache__/object_tracker.cpython-312.pyc  | Bin 0 -> 6876 bytes
 __pycache__/rerun_node.cpython-312.pyc      | Bin 0 -> 6605 bytes
 cameraBundle.py                             |  10 ++-
 object_tracker.py                           |  73 +++-----------------
 pipeline-combine.py                         |   6 +-
 rerun_node.py                               |  52 +++++++++++---
 9 files changed, 78 insertions(+), 84 deletions(-)
 create mode 100644 __pycache__/Basalt_VIO_RTab.cpython-312.pyc
 create mode 100644 __pycache__/cameraBundle.cpython-312.pyc
 create mode 100644 __pycache__/object_tracker.cpython-312.pyc
 create mode 100644 __pycache__/rerun_node.cpython-312.pyc

diff --git a/Basalt_VIO_RTab.py b/Basalt_VIO_RTab.py
index 0f4d5c9..755ede7 100644
--- a/Basalt_VIO_RTab.py
+++ b/Basalt_VIO_RTab.py
@@ -2,8 +2,10 @@
 import depthai as dai
 from rerun_node import RerunNode
 from cameraBundle import CameraBundle
+
+
 # Create pipeline
-def add_basalt_vio_rtab(p: dai.Pipeline, cameras: 'CameraBundle' = None):
+def add_basalt_vio_rtab(p: dai.Pipeline, cameras: "CameraBundle" = None) -> RerunNode:
     with p:
         fps = 60
         width = 640
@@ -16,13 +18,17 @@ def add_basalt_vio_rtab(p: dai.Pipeline, cameras: 'CameraBundle' = None):
         odom = p.create(dai.node.BasaltVIO)
         slam = p.create(dai.node.RTABMapSLAM)
         stereo = cameras.stereo
-        params = {"RGBD/CreateOccupancyGrid": "true",
-                "Grid/3D": "true",
-                "Rtabmap/SaveWMState": "true"}
+        params = {
+            "RGBD/CreateOccupancyGrid": "true",
+            "Grid/3D": "true",
+            "Rtabmap/SaveWMState": "true",
+        }
         slam.setParams(params)
 
         rerunViewer = RerunNode()
-        imu.enableIMUSensor([dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW], 200)
+        imu.enableIMUSensor(
+            [dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW], 200
+        )
         imu.setBatchReportThreshold(1)
         imu.setMaxBatchReports(10)
 
@@ -34,7 +40,6 @@ def add_basalt_vio_rtab(p: dai.Pipeline, cameras: 'CameraBundle' = None):
         stereo.initialConfig.setLeftRightCheckThreshold(10)
         stereo.setDepthAlign(dai.CameraBoardSocket.CAM_B)
 
-
         left.requestOutput((width, height)).link(stereo.left)
         right.requestOutput((width, height)).link(stereo.right)
         stereo.syncedLeft.link(odom.left)
@@ -49,5 +54,5 @@ def add_basalt_vio_rtab(p: dai.Pipeline, cameras: 'CameraBundle' = None):
         slam.occupancyGridMap.link(rerunViewer.inputGrid)
         slam.obstaclePCL.link(rerunViewer.inputObstaclePCL)
         slam.groundPCL.link(rerunViewer.inputGroundPCL)
-        p.start()
-        time.sleep(2) #buffer time for nodes to start
\ No newline at end of file
+        time.sleep(2)  # buffer time for nodes to start
+        return rerunViewer
\ No newline at end of file
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diff --git a/cameraBundle.py b/cameraBundle.py
index c78befe..fe8cfd6 100644
--- a/cameraBundle.py
+++ b/cameraBundle.py
@@ -3,7 +3,15 @@
 
 class CameraBundle:
     """Helper to create and link camera nodes and stereo outputs."""
-    def __init__(self, pipeline: dai.Pipeline, rgb_socket=dai.CameraBoardSocket.CAM_A, left_socket=dai.CameraBoardSocket.CAM_B, right_socket=dai.CameraBoardSocket.CAM_C, mono_resolution=(640, 400)):
+
+    def __init__(
+        self,
+        pipeline: dai.Pipeline,
+        rgb_socket=dai.CameraBoardSocket.CAM_A,
+        left_socket=dai.CameraBoardSocket.CAM_B,
+        right_socket=dai.CameraBoardSocket.CAM_C,
+        mono_resolution=(640, 400),
+    ):
         self.pipeline = pipeline
         self.camRgb = pipeline.create(dai.node.Camera).build(rgb_socket)
         self.monoLeft = pipeline.create(dai.node.Camera).build(left_socket)
diff --git a/object_tracker.py b/object_tracker.py
index 57576cc..38d0aca 100644
--- a/object_tracker.py
+++ b/object_tracker.py
@@ -9,34 +9,31 @@
 
 # Create pipeline
 
-def add_object_tracker(pipeline: dai.Pipeline, cameras: 'CameraBundle' = None):
-    with pipeline:
-        cameras = cameras or CameraBundle(pipeline)
+
+def add_object_tracker(p: dai.Pipeline, cameras: "CameraBundle" = None):
+    with p:
+        cameras = cameras or CameraBundle(p)
         camRgb = cameras.camRgb
-        monoLeft = cameras.monoLeft
-        monoRight = cameras.monoRight
         stereo = cameras.stereo
-        leftOutput = cameras.leftOutput
-        rightOutput = cameras.rightOutput
 
-        spatialDetectionNetwork = pipeline.create(dai.node.SpatialDetectionNetwork).build(camRgb, stereo, "yolov6-nano")
-        objectTracker = pipeline.create(dai.node.ObjectTracker)
+        spatialDetectionNetwork = p.create(
+            dai.node.SpatialDetectionNetwork
+        ).build(camRgb, stereo, "yolov6-nano")
+        objectTracker = p.create(dai.node.ObjectTracker)
 
         spatialDetectionNetwork.setConfidenceThreshold(0.6)
         spatialDetectionNetwork.input.setBlocking(False)
         spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)
         spatialDetectionNetwork.setDepthLowerThreshold(100)
         spatialDetectionNetwork.setDepthUpperThreshold(5000)
-        labelMap = spatialDetectionNetwork.getClasses()
 
         objectTracker.setDetectionLabelsToTrack([0])  # track only person
         # possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS, SHORT_TERM_IMAGELESS, SHORT_TERM_KCF
         objectTracker.setTrackerType(dai.TrackerType.SHORT_TERM_IMAGELESS)
         # take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
-        objectTracker.setTrackerIdAssignmentPolicy(dai.TrackerIdAssignmentPolicy.SMALLEST_ID)
-
-        preview = objectTracker.passthroughTrackerFrame.createOutputQueue()
-        tracklets = objectTracker.out.createOutputQueue()
+        objectTracker.setTrackerIdAssignmentPolicy(
+            dai.TrackerIdAssignmentPolicy.SMALLEST_ID
+        )
 
         if fullFrameTracking:
             camRgb.requestFullResolutionOutput().link(objectTracker.inputTrackerFrame)
@@ -48,51 +45,3 @@ def add_object_tracker(pipeline: dai.Pipeline, cameras: 'CameraBundle' = None):
 
         spatialDetectionNetwork.passthrough.link(objectTracker.inputDetectionFrame)
         spatialDetectionNetwork.out.link(objectTracker.inputDetections)
-
-        startTime = time.monotonic()
-        counter = 0
-        fps = 0
-        color = (255, 255, 255)
-        pipeline.start()
-        while(pipeline.isRunning()):
-            imgFrame = preview.get()
-            track = tracklets.get()
-            assert isinstance(imgFrame, dai.ImgFrame), "Expected ImgFrame"
-            assert isinstance(track, dai.Tracklets), "Expected Tracklets"
-
-            counter+=1
-            current_time = time.monotonic()
-            if (current_time - startTime) > 1 :
-                fps = counter / (current_time - startTime)
-                counter = 0
-                startTime = current_time
-
-            frame = imgFrame.getCvFrame()
-            trackletsData = track.tracklets
-            for t in trackletsData:
-                roi = t.roi.denormalize(frame.shape[1], frame.shape[0])
-                x1 = int(roi.topLeft().x)
-                y1 = int(roi.topLeft().y)
-                x2 = int(roi.bottomRight().x)
-                y2 = int(roi.bottomRight().y)
-
-                try:
-                    label = labelMap[t.label]
-                except:
-                    label = t.label
-
-                cv2.putText(frame, str(label), (x1 + 10, y1 + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
-                cv2.putText(frame, f"ID: {[t.id]}", (x1 + 10, y1 + 35), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
-                cv2.putText(frame, t.status.name, (x1 + 10, y1 + 50), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
-                cv2.rectangle(frame, (x1, y1), (x2, y2), color, cv2.FONT_HERSHEY_SIMPLEX)
-
-                cv2.putText(frame, f"X: {int(t.spatialCoordinates.x)} mm", (x1 + 10, y1 + 65), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
-                cv2.putText(frame, f"Y: {int(t.spatialCoordinates.y)} mm", (x1 + 10, y1 + 80), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
-                cv2.putText(frame, f"Z: {int(t.spatialCoordinates.z)} mm", (x1 + 10, y1 + 95), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
-
-            cv2.putText(frame, "NN fps: {:.2f}".format(fps), (2, frame.shape[0] - 4), cv2.FONT_HERSHEY_TRIPLEX, 0.4, color)
-
-            cv2.imshow("tracker", frame)
-
-            if cv2.waitKey(1) == ord('q'):
-                break
diff --git a/pipeline-combine.py b/pipeline-combine.py
index 8d8005a..d6bcd08 100644
--- a/pipeline-combine.py
+++ b/pipeline-combine.py
@@ -2,15 +2,15 @@
 import rerun_node
 import object_tracker
 import depthai as dai
-# This is the main pipeline-combine.py file that integrates Basalt VIO with RTAB-Map SLAM
 
+# This is the main pipeline-combine.py file that integrates Basalt VIO with RTAB-Map SLAM
 
 
 with dai.Pipeline() as pipeline:
 
     object_tracker.add_object_tracker(pipeline)
-    Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline)
+    rerunViewer = Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline)
     pipeline.start()
     while not KeyboardInterrupt and pipeline.isRunning():
-          pass
+        pass
     pipeline.stop()
diff --git a/rerun_node.py b/rerun_node.py
index 4211b7e..db9e01b 100644
--- a/rerun_node.py
+++ b/rerun_node.py
@@ -2,14 +2,22 @@
 import sys
 
 from pathlib import Path
-installExamplesStr = Path(__file__).absolute().parents[2] / 'install_requirements.py --install_rerun'
+
+installExamplesStr = (
+    Path(__file__).absolute().parents[2] / "install_requirements.py --install_rerun"
+)
 try:
     import rerun as rr
 except ImportError:
-    sys.exit("Critical dependency missing: Rerun. Please install it using the command: '{} {}' and then rerun the script.".format(sys.executable, installExamplesStr))
+    sys.exit(
+        "Critical dependency missing: Rerun. Please install it using the command: '{} {}' and then rerun the script.".format(
+            sys.executable, installExamplesStr
+        )
+    )
 
 import cv2
 
+
 class RerunNode(dai.node.ThreadedHostNode):
     def __init__(self):
         dai.node.ThreadedHostNode.__init__(self)
@@ -26,16 +34,19 @@ def __init__(self):
     def getFocalLengthFromImage(self, imgFrame):
         p = self.getParentPipeline()
         calibHandler = p.getDefaultDevice().readCalibration()
-        intrinsics = calibHandler.getCameraIntrinsics(dai.CameraBoardSocket(imgFrame.getInstanceNum()), imgFrame.getWidth(), imgFrame.getHeight())
+        intrinsics = calibHandler.getCameraIntrinsics(
+            dai.CameraBoardSocket(imgFrame.getInstanceNum()),
+            imgFrame.getWidth(),
+            imgFrame.getHeight(),
+        )
         self.fx = intrinsics[0][0]
         self.fy = intrinsics[1][1]
         self.intrinsicsSet = True
 
-
     def run(self):
         rr.init("", spawn=True)
         rr.log("world", rr.ViewCoordinates.FLU)
-        rr.log("world/ground", rr.Boxes3D(half_sizes=[3.0, 3.0, 0.00001])) 
+        rr.log("world/ground", rr.Boxes3D(half_sizes=[3.0, 3.0, 0.00001]))
         while self.isRunning():
             transData = self.inputTrans.get()
             imgFrame = self.inputImg.get()
@@ -48,19 +59,40 @@ def run(self):
                 trans = transData.getTranslation()
                 quat = transData.getQuaternion()
                 position = rr.datatypes.Vec3D([trans.x, trans.y, trans.z])
-                rr.log("world/camera", rr.Transform3D(translation=position, rotation=rr.datatypes.Quaternion(xyzw=[quat.qx, quat.qy, quat.qz, quat.qw])))
+                rr.log(
+                    "world/camera",
+                    rr.Transform3D(
+                        translation=position,
+                        rotation=rr.datatypes.Quaternion(
+                            xyzw=[quat.qx, quat.qy, quat.qz, quat.qw]
+                        ),
+                    ),
+                )
                 self.positions.append(position)
                 lineStrip = rr.components.LineStrip3D(self.positions)
                 rr.log("world/trajectory", rr.LineStrips3D(lineStrip))
-                rr.log("world/camera/image", rr.Pinhole(resolution=[imgFrame.getWidth(), imgFrame.getHeight()], focal_length=[self.fx, self.fy], camera_xyz=rr.ViewCoordinates.FLU))
+                rr.log(
+                    "world/camera/image",
+                    rr.Pinhole(
+                        resolution=[imgFrame.getWidth(), imgFrame.getHeight()],
+                        focal_length=[self.fx, self.fy],
+                        camera_xyz=rr.ViewCoordinates.FLU,
+                    ),
+                )
                 img = imgFrame.getCvFrame()
                 img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
                 rr.log("world/camera/image/rgb", rr.Image(img))
                 if pclObstData is not None:
                     points, colors = pclObstData.getPointsRGB()
-                    rr.log("world/obstacle_pcl", rr.Points3D(points, colors=colors, radii=[0.01]))
+                    rr.log(
+                        "world/obstacle_pcl",
+                        rr.Points3D(points, colors=colors, radii=[0.01]),
+                    )
                 if pclGrndData is not None:
                     points, colors = pclGrndData.getPointsRGB()
-                    rr.log("world/ground_pcl", rr.Points3D(points, colors=colors, radii=[0.01]))
+                    rr.log(
+                        "world/ground_pcl",
+                        rr.Points3D(points, colors=colors, radii=[0.01]),
+                    )
                 if mapData is not None:
-                    rr.log("map", rr.Image(mapData.getCvFrame()))
\ No newline at end of file
+                    rr.log("map", rr.Image(mapData.getCvFrame()))

From 0da04f6e4c26aaf1106106b8a0c85ec9a6b1afe9 Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Wed, 28 Jan 2026 21:15:08 -0500
Subject: [PATCH 08/16] removed uneccessary libraries

---
 object_tracker.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/object_tracker.py b/object_tracker.py
index 38d0aca..1492ab1 100644
--- a/object_tracker.py
+++ b/object_tracker.py
@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
 
-import cv2
 import depthai as dai
-import time
 from cameraBundle import CameraBundle
 
 fullFrameTracking = False

From 44c7a61a221e5bc1d7ce8dab29160ea135db7b07 Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Thu, 29 Jan 2026 21:42:55 -0500
Subject: [PATCH 09/16] moved slam and rerun node to pipeline-combine.py

---
 .gitignore                                  |   3 ++-
 Basalt_VIO_RTab.py                          |  19 +++++-----------
 __pycache__/Basalt_VIO_RTab.cpython-312.pyc | Bin 4198 -> 0 bytes
 __pycache__/cameraBundle.cpython-312.pyc    | Bin 2116 -> 0 bytes
 __pycache__/object_tracker.cpython-312.pyc  | Bin 6876 -> 0 bytes
 __pycache__/rerun_node.cpython-312.pyc      | Bin 6605 -> 0 bytes
 cameraBundle.py                             |   1 +
 pipeline-combine.py                         |  24 +++++++++++++++-----
 8 files changed, 27 insertions(+), 20 deletions(-)
 delete mode 100644 __pycache__/Basalt_VIO_RTab.cpython-312.pyc
 delete mode 100644 __pycache__/cameraBundle.cpython-312.pyc
 delete mode 100644 __pycache__/object_tracker.cpython-312.pyc
 delete mode 100644 __pycache__/rerun_node.cpython-312.pyc

diff --git a/.gitignore b/.gitignore
index cdf5d40..6906b5e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 venv/
-notes.txt
\ No newline at end of file
+notes.txt
+__pycache__/
\ No newline at end of file
diff --git a/Basalt_VIO_RTab.py b/Basalt_VIO_RTab.py
index 755ede7..41746d1 100644
--- a/Basalt_VIO_RTab.py
+++ b/Basalt_VIO_RTab.py
@@ -1,22 +1,22 @@
-import time
 import depthai as dai
-from rerun_node import RerunNode
 from cameraBundle import CameraBundle
 
 
 # Create pipeline
-def add_basalt_vio_rtab(p: dai.Pipeline, cameras: "CameraBundle" = None) -> RerunNode:
+def add_basalt_vio_rtab(p: dai.Pipeline, cameras: "CameraBundle" = None):
     with p:
+        # Ensure we have a CameraBundle (created only if not provided)
+        cameras = cameras or CameraBundle(p)
         fps = 60
         width = 640
         height = 400
         # Define sources and outputs
-        cameras = CameraBundle(p)
+        
         left = cameras.monoLeft
         right = cameras.monoRight
         imu = p.create(dai.node.IMU)
         odom = p.create(dai.node.BasaltVIO)
-        slam = p.create(dai.node.RTABMapSLAM)
+        slam = cameras.slam
         stereo = cameras.stereo
         params = {
             "RGBD/CreateOccupancyGrid": "true",
@@ -25,7 +25,6 @@ def add_basalt_vio_rtab(p: dai.Pipeline, cameras: "CameraBundle" = None) -> Reru
         }
         slam.setParams(params)
 
-        rerunViewer = RerunNode()
         imu.enableIMUSensor(
             [dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW], 200
         )
@@ -49,10 +48,4 @@ def add_basalt_vio_rtab(p: dai.Pipeline, cameras: "CameraBundle" = None) -> Reru
         imu.out.link(odom.imu)
 
         odom.transform.link(slam.odom)
-        slam.transform.link(rerunViewer.inputTrans)
-        slam.passthroughRect.link(rerunViewer.inputImg)
-        slam.occupancyGridMap.link(rerunViewer.inputGrid)
-        slam.obstaclePCL.link(rerunViewer.inputObstaclePCL)
-        slam.groundPCL.link(rerunViewer.inputGroundPCL)
-        time.sleep(2)  # buffer time for nodes to start
-        return rerunViewer
\ No newline at end of file
+        
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luuKu(VVKEBpgH=8ANX>Z@9&H!>akDi_jgwq{#cGf{U3zGIH>>t

diff --git a/cameraBundle.py b/cameraBundle.py
index fe8cfd6..c4a2447 100644
--- a/cameraBundle.py
+++ b/cameraBundle.py
@@ -16,6 +16,7 @@ def __init__(
         self.camRgb = pipeline.create(dai.node.Camera).build(rgb_socket)
         self.monoLeft = pipeline.create(dai.node.Camera).build(left_socket)
         self.monoRight = pipeline.create(dai.node.Camera).build(right_socket)
+        self.slam = pipeline.create(dai.node.RTABMapSLAM)
 
         self.stereo = pipeline.create(dai.node.StereoDepth)
         self.leftOutput = self.monoLeft.requestOutput(mono_resolution)
diff --git a/pipeline-combine.py b/pipeline-combine.py
index d6bcd08..46ceab7 100644
--- a/pipeline-combine.py
+++ b/pipeline-combine.py
@@ -1,16 +1,28 @@
 import Basalt_VIO_RTab
-import rerun_node
+from rerun_node import RerunNode
 import object_tracker
 import depthai as dai
-
+import time
+from cameraBundle import CameraBundle
 # This is the main pipeline-combine.py file that integrates Basalt VIO with RTAB-Map SLAM
 
 
 with dai.Pipeline() as pipeline:
-
+    cameraBundle = CameraBundle(pipeline)
     object_tracker.add_object_tracker(pipeline)
-    rerunViewer = Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline)
+    Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline, cameraBundle)
+    rerunViewer = RerunNode()
+    slam = cameraBundle.slam
+    slam.transform.link(rerunViewer.inputTrans)
+    slam.passthroughRect.link(rerunViewer.inputImg)
+    slam.occupancyGridMap.link(rerunViewer.inputGrid)
+    slam.obstaclePCL.link(rerunViewer.inputObstaclePCL)
+    slam.groundPCL.link(rerunViewer.inputGroundPCL)
     pipeline.start()
-    while not KeyboardInterrupt and pipeline.isRunning():
+    try:
+        while pipeline.isRunning():
+            time.sleep(0.1)
+    except KeyboardInterrupt:
         pass
-    pipeline.stop()
+    finally:
+        pipeline.stop()

From 281aa5600d1b1fee59531b9b857ad0b34a998516 Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Fri, 6 Feb 2026 20:28:27 -0500
Subject: [PATCH 10/16] renaming files and passing in cameraBundle

---
 cameraBundle.py => camera_bundle.py        | 0
 pipeline-combine.py => pipeline_combine.py | 6 ++++--
 2 files changed, 4 insertions(+), 2 deletions(-)
 rename cameraBundle.py => camera_bundle.py (100%)
 rename pipeline-combine.py => pipeline_combine.py (88%)

diff --git a/cameraBundle.py b/camera_bundle.py
similarity index 100%
rename from cameraBundle.py
rename to camera_bundle.py
diff --git a/pipeline-combine.py b/pipeline_combine.py
similarity index 88%
rename from pipeline-combine.py
rename to pipeline_combine.py
index 46ceab7..10509a5 100644
--- a/pipeline-combine.py
+++ b/pipeline_combine.py
@@ -3,14 +3,15 @@
 import object_tracker
 import depthai as dai
 import time
-from cameraBundle import CameraBundle
+from camera_bundle import CameraBundle
 # This is the main pipeline-combine.py file that integrates Basalt VIO with RTAB-Map SLAM
 
 
 with dai.Pipeline() as pipeline:
     cameraBundle = CameraBundle(pipeline)
-    object_tracker.add_object_tracker(pipeline)
+    object_tracker.add_object_tracker(pipeline, cameraBundle)
     Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline, cameraBundle)
+    
     rerunViewer = RerunNode()
     slam = cameraBundle.slam
     slam.transform.link(rerunViewer.inputTrans)
@@ -18,6 +19,7 @@
     slam.occupancyGridMap.link(rerunViewer.inputGrid)
     slam.obstaclePCL.link(rerunViewer.inputObstaclePCL)
     slam.groundPCL.link(rerunViewer.inputGroundPCL)
+
     pipeline.start()
     try:
         while pipeline.isRunning():

From 91366697d3205fb5c50e8efcd56d21865e9a011a Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Fri, 6 Feb 2026 20:29:51 -0500
Subject: [PATCH 11/16] import fix

---
 object_tracker.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/object_tracker.py b/object_tracker.py
index 1492ab1..d45cfe7 100644
--- a/object_tracker.py
+++ b/object_tracker.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import depthai as dai
-from cameraBundle import CameraBundle
+from camera_bundle import CameraBundle
 
 fullFrameTracking = False
 

From cf08fe01b125d4f516a52539e9417760a933fcce Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Fri, 6 Feb 2026 20:36:33 -0500
Subject: [PATCH 12/16] moved folders and linted

---
 Basalt_VIO_RTab.py => airside/oakd/Basalt_VIO_RTab.py   | 3 +--
 camera_bundle.py => airside/oakd/camera_bundle.py       | 0
 object_tracker.py => airside/oakd/object_tracker.py     | 6 +++---
 pipeline_combine.py => airside/oakd/pipeline_combine.py | 3 ++-
 requirements.txt => airside/oakd/requirements.txt       | 0
 rerun_node.py => airside/oakd/rerun_node.py             | 0
 util.py => airside/oakd/util.py                         | 9 ++++++---
 7 files changed, 12 insertions(+), 9 deletions(-)
 rename Basalt_VIO_RTab.py => airside/oakd/Basalt_VIO_RTab.py (98%)
 rename camera_bundle.py => airside/oakd/camera_bundle.py (100%)
 rename object_tracker.py => airside/oakd/object_tracker.py (92%)
 rename pipeline_combine.py => airside/oakd/pipeline_combine.py (99%)
 rename requirements.txt => airside/oakd/requirements.txt (100%)
 rename rerun_node.py => airside/oakd/rerun_node.py (100%)
 rename util.py => airside/oakd/util.py (98%)

diff --git a/Basalt_VIO_RTab.py b/airside/oakd/Basalt_VIO_RTab.py
similarity index 98%
rename from Basalt_VIO_RTab.py
rename to airside/oakd/Basalt_VIO_RTab.py
index 41746d1..621494a 100644
--- a/Basalt_VIO_RTab.py
+++ b/airside/oakd/Basalt_VIO_RTab.py
@@ -11,7 +11,7 @@ def add_basalt_vio_rtab(p: dai.Pipeline, cameras: "CameraBundle" = None):
         width = 640
         height = 400
         # Define sources and outputs
-        
+
         left = cameras.monoLeft
         right = cameras.monoRight
         imu = p.create(dai.node.IMU)
@@ -48,4 +48,3 @@ def add_basalt_vio_rtab(p: dai.Pipeline, cameras: "CameraBundle" = None):
         imu.out.link(odom.imu)
 
         odom.transform.link(slam.odom)
-        
diff --git a/camera_bundle.py b/airside/oakd/camera_bundle.py
similarity index 100%
rename from camera_bundle.py
rename to airside/oakd/camera_bundle.py
diff --git a/object_tracker.py b/airside/oakd/object_tracker.py
similarity index 92%
rename from object_tracker.py
rename to airside/oakd/object_tracker.py
index d45cfe7..6b7670c 100644
--- a/object_tracker.py
+++ b/airside/oakd/object_tracker.py
@@ -14,9 +14,9 @@ def add_object_tracker(p: dai.Pipeline, cameras: "CameraBundle" = None):
         camRgb = cameras.camRgb
         stereo = cameras.stereo
 
-        spatialDetectionNetwork = p.create(
-            dai.node.SpatialDetectionNetwork
-        ).build(camRgb, stereo, "yolov6-nano")
+        spatialDetectionNetwork = p.create(dai.node.SpatialDetectionNetwork).build(
+            camRgb, stereo, "yolov6-nano"
+        )
         objectTracker = p.create(dai.node.ObjectTracker)
 
         spatialDetectionNetwork.setConfidenceThreshold(0.6)
diff --git a/pipeline_combine.py b/airside/oakd/pipeline_combine.py
similarity index 99%
rename from pipeline_combine.py
rename to airside/oakd/pipeline_combine.py
index 10509a5..d7c362f 100644
--- a/pipeline_combine.py
+++ b/airside/oakd/pipeline_combine.py
@@ -4,6 +4,7 @@
 import depthai as dai
 import time
 from camera_bundle import CameraBundle
+
 # This is the main pipeline-combine.py file that integrates Basalt VIO with RTAB-Map SLAM
 
 
@@ -11,7 +12,7 @@
     cameraBundle = CameraBundle(pipeline)
     object_tracker.add_object_tracker(pipeline, cameraBundle)
     Basalt_VIO_RTab.add_basalt_vio_rtab(pipeline, cameraBundle)
-    
+
     rerunViewer = RerunNode()
     slam = cameraBundle.slam
     slam.transform.link(rerunViewer.inputTrans)
diff --git a/requirements.txt b/airside/oakd/requirements.txt
similarity index 100%
rename from requirements.txt
rename to airside/oakd/requirements.txt
diff --git a/rerun_node.py b/airside/oakd/rerun_node.py
similarity index 100%
rename from rerun_node.py
rename to airside/oakd/rerun_node.py
diff --git a/util.py b/airside/oakd/util.py
similarity index 98%
rename from util.py
rename to airside/oakd/util.py
index e0b8b74..f5d0eec 100644
--- a/util.py
+++ b/airside/oakd/util.py
@@ -9,18 +9,20 @@
 
 # MAVLink communication constants
 AIRSIDE_COMPONENT_ID = 191
-MAVLINK_TCP_HOST = '127.0.0.1'
+MAVLINK_TCP_HOST = "127.0.0.1"
 MAVLINK_TCP_PORT = 14550
 MAVLINK_RECEIVE_TIMEOUT_SEC = 1
 
 
 class MavlinkMessageType(Enum):
     """MAVLink message types used in drone communication"""
+
     RC_CHANNELS = "RC_CHANNELS"
 
 
 class Colour(Enum):
     """Target colors"""
+
     RED = "RED"
     GREEN = "GREEN"
     BLACK = "BLACK"
@@ -30,6 +32,7 @@ class Colour(Enum):
 
 class Direction(Enum):
     """Cardinal directions"""
+
     NORTH = "NORTH"
     SOUTH = "SOUTH"
     EAST = "EAST"
@@ -46,7 +49,7 @@ def __init__(self, x: float, y: float, z: float):
 
     def __str__(self):
         return f"({self.x}, {self.y}, {self.z})"
-    
+
 
 class Target:
     """Represents a target with a color and location."""
@@ -84,7 +87,7 @@ def __init__(self, x: float, y: float, z: float):
 
     def __str__(self):
         return f"({self.x}, {self.y}, {self.z})"
-    
+
 
 class Plane:
     """Represents a plane in 3D space defined by an offset from origin and a normal vector."""

From 9050c697372f8939f786add7d718a1a765c9d889 Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Fri, 6 Feb 2026 20:37:39 -0500
Subject: [PATCH 13/16] oops

---
 airside/oakd/util.py | 100 -------------------------------------------
 1 file changed, 100 deletions(-)
 delete mode 100644 airside/oakd/util.py

diff --git a/airside/oakd/util.py b/airside/oakd/util.py
deleted file mode 100644
index f5d0eec..0000000
--- a/airside/oakd/util.py
+++ /dev/null
@@ -1,100 +0,0 @@
-"""
-Utility classes and constants for drone communication and data structures.
-
-This module provides core data structures and enums used throughout the drone control system,
-including local coordinate representation, MAVLink message types, and RC channel data.
-"""
-
-from enum import Enum
-
-# MAVLink communication constants
-AIRSIDE_COMPONENT_ID = 191
-MAVLINK_TCP_HOST = "127.0.0.1"
-MAVLINK_TCP_PORT = 14550
-MAVLINK_RECEIVE_TIMEOUT_SEC = 1
-
-
-class MavlinkMessageType(Enum):
-    """MAVLink message types used in drone communication"""
-
-    RC_CHANNELS = "RC_CHANNELS"
-
-
-class Colour(Enum):
-    """Target colors"""
-
-    RED = "RED"
-    GREEN = "GREEN"
-    BLACK = "BLACK"
-    BLUE = "BLUE"
-    YELLOW = "YELLOW"
-
-
-class Direction(Enum):
-    """Cardinal directions"""
-
-    NORTH = "NORTH"
-    SOUTH = "SOUTH"
-    EAST = "EAST"
-    WEST = "WEST"
-
-
-class Coordinate:
-    """Represents a local coordinate with x, y, and z components."""
-
-    def __init__(self, x: float, y: float, z: float):
-        self.x = x
-        self.y = y
-        self.z = z
-
-    def __str__(self):
-        return f"({self.x}, {self.y}, {self.z})"
-
-
-class Target:
-    """Represents a target with a color and location."""
-
-    def __init__(self, colour: Colour, location: Coordinate):
-        self.colour = colour
-        self.location = location
-
-    def __str__(self):
-        return f"(colour={self.colour}, location={self.location})"
-
-
-class RCChannel:
-    """Represents a single RC channel with raw value and activity status."""
-
-    def __init__(self, channel: int, raw: int = 0, is_active: bool = False):
-        self.channel = channel
-        self.raw = raw
-        self.is_active = is_active
-
-    def __str__(self):
-        return f"({self.channel}, {self.raw}, {self.is_active})"
-
-    def __repr__(self):
-        return f"RCChannel(channel={self.channel}, raw={self.raw}, is_active={self.is_active})"
-
-
-class Vector3d:
-    """Represents a 3D vector with x, y, and z components."""
-
-    def __init__(self, x: float, y: float, z: float):
-        self.x = x
-        self.y = y
-        self.z = z
-
-    def __str__(self):
-        return f"({self.x}, {self.y}, {self.z})"
-
-
-class Plane:
-    """Represents a plane in 3D space defined by an offset from origin and a normal vector."""
-
-    def __init__(self, offset: float, normal: Vector3d):
-        self.offset = offset
-        self.normal = normal
-
-    def __str__(self):
-        return f"(offset={self.offset}, normal={self.normal})"

From a17da7ed826f8302ea7fe73ac2c5dcdaa2767169 Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Fri, 6 Feb 2026 20:39:01 -0500
Subject: [PATCH 14/16] ...

---
 util.py | 100 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 100 insertions(+)
 create mode 100644 util.py

diff --git a/util.py b/util.py
new file mode 100644
index 0000000..f5d0eec
--- /dev/null
+++ b/util.py
@@ -0,0 +1,100 @@
+"""
+Utility classes and constants for drone communication and data structures.
+
+This module provides core data structures and enums used throughout the drone control system,
+including local coordinate representation, MAVLink message types, and RC channel data.
+"""
+
+from enum import Enum
+
+# MAVLink communication constants
+AIRSIDE_COMPONENT_ID = 191
+MAVLINK_TCP_HOST = "127.0.0.1"
+MAVLINK_TCP_PORT = 14550
+MAVLINK_RECEIVE_TIMEOUT_SEC = 1
+
+
+class MavlinkMessageType(Enum):
+    """MAVLink message types used in drone communication"""
+
+    RC_CHANNELS = "RC_CHANNELS"
+
+
+class Colour(Enum):
+    """Target colors"""
+
+    RED = "RED"
+    GREEN = "GREEN"
+    BLACK = "BLACK"
+    BLUE = "BLUE"
+    YELLOW = "YELLOW"
+
+
+class Direction(Enum):
+    """Cardinal directions"""
+
+    NORTH = "NORTH"
+    SOUTH = "SOUTH"
+    EAST = "EAST"
+    WEST = "WEST"
+
+
+class Coordinate:
+    """Represents a local coordinate with x, y, and z components."""
+
+    def __init__(self, x: float, y: float, z: float):
+        self.x = x
+        self.y = y
+        self.z = z
+
+    def __str__(self):
+        return f"({self.x}, {self.y}, {self.z})"
+
+
+class Target:
+    """Represents a target with a color and location."""
+
+    def __init__(self, colour: Colour, location: Coordinate):
+        self.colour = colour
+        self.location = location
+
+    def __str__(self):
+        return f"(colour={self.colour}, location={self.location})"
+
+
+class RCChannel:
+    """Represents a single RC channel with raw value and activity status."""
+
+    def __init__(self, channel: int, raw: int = 0, is_active: bool = False):
+        self.channel = channel
+        self.raw = raw
+        self.is_active = is_active
+
+    def __str__(self):
+        return f"({self.channel}, {self.raw}, {self.is_active})"
+
+    def __repr__(self):
+        return f"RCChannel(channel={self.channel}, raw={self.raw}, is_active={self.is_active})"
+
+
+class Vector3d:
+    """Represents a 3D vector with x, y, and z components."""
+
+    def __init__(self, x: float, y: float, z: float):
+        self.x = x
+        self.y = y
+        self.z = z
+
+    def __str__(self):
+        return f"({self.x}, {self.y}, {self.z})"
+
+
+class Plane:
+    """Represents a plane in 3D space defined by an offset from origin and a normal vector."""
+
+    def __init__(self, offset: float, normal: Vector3d):
+        self.offset = offset
+        self.normal = normal
+
+    def __str__(self):
+        return f"(offset={self.offset}, normal={self.normal})"

From 1bbef64ea91d632ba66201ddedcc5c7a4c2be0cd Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Sun, 8 Feb 2026 16:46:03 -0500
Subject: [PATCH 15/16] moved requirements

---
 airside/oakd/requirements.txt => requirements.txt | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename airside/oakd/requirements.txt => requirements.txt (100%)

diff --git a/airside/oakd/requirements.txt b/requirements.txt
similarity index 100%
rename from airside/oakd/requirements.txt
rename to requirements.txt

From b7dd5fe9ad728bb0939bb0aa7f3b6b8eab755457 Mon Sep 17 00:00:00 2001
From: Sam <70551337+samcyx@users.noreply.github.com>
Date: Mon, 9 Feb 2026 20:15:14 -0500
Subject: [PATCH 16/16] fix import

---
 airside/oakd/Basalt_VIO_RTab.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/airside/oakd/Basalt_VIO_RTab.py b/airside/oakd/Basalt_VIO_RTab.py
index 621494a..a34314a 100644
--- a/airside/oakd/Basalt_VIO_RTab.py
+++ b/airside/oakd/Basalt_VIO_RTab.py
@@ -1,5 +1,5 @@
 import depthai as dai
-from cameraBundle import CameraBundle
+from camera_bundle import CameraBundle
 
 
 # Create pipeline