From f354c4568c795f3c16467e7e5c615f78a50ba48c Mon Sep 17 00:00:00 2001
From: Shao Su <shaoxiangs@nvidia.com>
Date: Thu, 26 Feb 2026 17:03:07 -0800
Subject: [PATCH 1/4] enable preview for oak camera

---
 src/plugins/oak/CMakeLists.txt          |  22 ++++
 src/plugins/oak/README.md               |   2 +-
 src/plugins/oak/core/oak_camera.cpp     |  55 +++++----
 src/plugins/oak/core/oak_camera.hpp     |  15 ++-
 src/plugins/oak/core/preview_stream.cpp | 156 ++++++++++++++++++++++++
 src/plugins/oak/core/preview_stream.hpp |  56 +++++++++
 src/plugins/oak/main.cpp                |   7 ++
 7 files changed, 286 insertions(+), 27 deletions(-)
 create mode 100644 src/plugins/oak/core/preview_stream.cpp
 create mode 100644 src/plugins/oak/core/preview_stream.hpp

diff --git a/src/plugins/oak/CMakeLists.txt b/src/plugins/oak/CMakeLists.txt
index 3785a2280..1834b301f 100644
--- a/src/plugins/oak/CMakeLists.txt
+++ b/src/plugins/oak/CMakeLists.txt
@@ -18,6 +18,7 @@ message(STATUS "Configuring DepthAI...")
 set(DEPTHAI_BUILD_EXAMPLES OFF CACHE BOOL "" FORCE)
 set(DEPTHAI_BUILD_TESTS OFF CACHE BOOL "" FORCE)
 set(DEPTHAI_BUILD_DOCS OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_OPENCV_SUPPORT OFF CACHE BOOL "" FORCE)
 
 FetchContent_Declare(
     depthai
@@ -28,6 +29,22 @@ FetchContent_MakeAvailable(depthai)
 
 message(STATUS "Building OAK camera plugin with DepthAI ${depthai_VERSION}")
 
+# ==============================================================================
+# SDL2 (for live preview window, bundled via FetchContent)
+# ==============================================================================
+set(SDL2_VERSION "2.30.11")
+
+set(SDL_TEST OFF CACHE BOOL "" FORCE)
+set(SDL_SHARED ON CACHE BOOL "" FORCE)
+set(SDL_STATIC OFF CACHE BOOL "" FORCE)
+
+FetchContent_Declare(
+    sdl2
+    URL "https://github.com/libsdl-org/SDL/releases/download/release-${SDL2_VERSION}/SDL2-${SDL2_VERSION}.tar.gz"
+)
+FetchContent_MakeAvailable(sdl2)
+message(STATUS "SDL2 ${SDL2_VERSION} — live preview support enabled")
+
 # ==============================================================================
 # Build OAK Plugin
 # ==============================================================================
@@ -36,6 +53,7 @@ add_executable(camera_plugin_oak
     core/oak_camera.cpp
     core/rawdata_writer.cpp
     core/frame_sink.cpp
+    core/preview_stream.cpp
 )
 
 target_link_libraries(camera_plugin_oak
@@ -45,8 +63,12 @@ target_link_libraries(camera_plugin_oak
         mcap::mcap
         oxr::oxr_core
         pusherio::pusherio
+        SDL2::SDL2
 )
 
+# Bundle SDL2 shared library alongside the binary
+install(TARGETS SDL2 LIBRARY DESTINATION plugins/oak_camera)
+
 # Set RPATH to find bundled libraries in same directory
 set_target_properties(camera_plugin_oak PROPERTIES
     INSTALL_RPATH "$ORIGIN"
diff --git a/src/plugins/oak/README.md b/src/plugins/oak/README.md
index df14582b3..e054a8304 100644
--- a/src/plugins/oak/README.md
+++ b/src/plugins/oak/README.md
@@ -22,7 +22,7 @@ DepthAI is fetched and built automatically via FetchContent. The first build tak
 cd IsaacTeleop
 
 # Configure and build
-cmake -B build
+cmake -B build -DBUILD_PLUGIN_OAK_CAMERA=ON
 cmake --build build --target camera_plugin_oak --parallel
 ```
 
diff --git a/src/plugins/oak/core/oak_camera.cpp b/src/plugins/oak/core/oak_camera.cpp
index c746e5118..ffde4aa8d 100644
--- a/src/plugins/oak/core/oak_camera.cpp
+++ b/src/plugins/oak/core/oak_camera.cpp
@@ -4,6 +4,7 @@
 #include "oak_camera.hpp"
 
 #include "frame_sink.hpp"
+#include "preview_stream.hpp"
 
 #include <algorithm>
 #include <iostream>
@@ -42,18 +43,32 @@ OakCamera::OakCamera(const OakConfig& config, const std::vector<StreamConfig>& s
     for (const auto& [socket, name] : sensors)
         std::cout << "  Socket " << static_cast<int>(socket) << ": " << name << std::endl;
 
-    create_pipeline(config, streams, sensors);
+    if (sensors.find(dai::CameraBoardSocket::CAM_A) == sensors.end())
+        throw std::runtime_error("Color sensor not found on CAM_A");
+    auto color_sensor_name = sensors.find(dai::CameraBoardSocket::CAM_A)->second;
+    auto color_resolution = color_sensor_name == "OV9782" ? dai::ColorCameraProperties::SensorResolution::THE_800_P :
+                                                            dai::ColorCameraProperties::SensorResolution::THE_1080_P;
 
-    m_device->startPipeline(*m_pipeline);
+    static constexpr const char* kPreviewStreamName = "ColorPreview";
+
+    auto pipeline = create_pipeline(config, streams, color_resolution);
+
+    if (config.preview)
+        m_preview = PreviewStream::try_create(kPreviewStreamName, pipeline, color_resolution);
+
+    m_device->startPipeline(pipeline);
 
     for (const auto& s : streams)
-    {
         m_queues[s.camera] = m_device->getOutputQueue(core::EnumNameStreamType(s.camera), 8, false);
-    }
+
+    if (m_preview)
+        m_preview->setOutputQueue(m_device->getOutputQueue(kPreviewStreamName, 4, false));
 
     std::cout << "OAK camera pipeline started" << std::endl;
 }
 
+OakCamera::~OakCamera() = default;
+
 dai::DeviceInfo OakCamera::find_device(const std::string& device_id)
 {
     auto devices = dai::Device::getAllAvailableDevices();
@@ -83,11 +98,11 @@ dai::DeviceInfo OakCamera::find_device(const std::string& device_id)
 // Pipeline construction
 // =============================================================================
 
-void OakCamera::create_pipeline(const OakConfig& config,
-                                const std::vector<StreamConfig>& streams,
-                                const std::unordered_map<dai::CameraBoardSocket, std::string>& sensors)
+dai::Pipeline OakCamera::create_pipeline(const OakConfig& config,
+                                         const std::vector<StreamConfig>& streams,
+                                         dai::ColorCameraProperties::SensorResolution color_resolution)
 {
-    m_pipeline = std::make_shared<dai::Pipeline>();
+    dai::Pipeline pipeline;
 
     bool need_color = has_stream(streams, core::StreamType_Color);
     bool need_mono_left = has_stream(streams, core::StreamType_MonoLeft);
@@ -95,7 +110,7 @@ void OakCamera::create_pipeline(const OakConfig& config,
 
     auto create_h264_output = [&](dai::Node::Output& source, const char* stream_name)
     {
-        auto enc = m_pipeline->create<dai::node::VideoEncoder>();
+        auto enc = pipeline.create<dai::node::VideoEncoder>();
         enc->setDefaultProfilePreset(config.fps, dai::VideoEncoderProperties::Profile::H264_BASELINE);
         enc->setBitrate(config.bitrate);
         enc->setQuality(config.quality);
@@ -103,7 +118,7 @@ void OakCamera::create_pipeline(const OakConfig& config,
         enc->setNumBFrames(0);
         enc->setRateControlMode(dai::VideoEncoderProperties::RateControlMode::CBR);
 
-        auto xout = m_pipeline->create<dai::node::XLinkOut>();
+        auto xout = pipeline.create<dai::node::XLinkOut>();
         xout->setStreamName(stream_name);
 
         source.link(enc->input);
@@ -113,16 +128,9 @@ void OakCamera::create_pipeline(const OakConfig& config,
     // ---- Color camera ----
     if (need_color)
     {
-        auto it = sensors.find(dai::CameraBoardSocket::CAM_A);
-        if (it == sensors.end())
-            throw std::runtime_error("Color stream requested but no sensor found on CAM_A");
-
-        auto resolution = it->second == "OV9782" ? dai::ColorCameraProperties::SensorResolution::THE_800_P :
-                                                   dai::ColorCameraProperties::SensorResolution::THE_1080_P;
-
-        auto camRgb = m_pipeline->create<dai::node::ColorCamera>();
+        auto camRgb = pipeline.create<dai::node::ColorCamera>();
         camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
-        camRgb->setResolution(resolution);
+        camRgb->setResolution(color_resolution);
         camRgb->setFps(config.fps);
         camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
 
@@ -132,7 +140,7 @@ void OakCamera::create_pipeline(const OakConfig& config,
     // ---- Mono cameras ----
     if (need_mono_left)
     {
-        auto monoLeft = m_pipeline->create<dai::node::MonoCamera>();
+        auto monoLeft = pipeline.create<dai::node::MonoCamera>();
         monoLeft->setBoardSocket(dai::CameraBoardSocket::CAM_B);
         monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
         monoLeft->setFps(config.fps);
@@ -142,13 +150,15 @@ void OakCamera::create_pipeline(const OakConfig& config,
 
     if (need_mono_right)
     {
-        auto monoRight = m_pipeline->create<dai::node::MonoCamera>();
+        auto monoRight = pipeline.create<dai::node::MonoCamera>();
         monoRight->setBoardSocket(dai::CameraBoardSocket::CAM_C);
         monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
         monoRight->setFps(config.fps);
 
         create_h264_output(monoRight->out, core::EnumNameStreamType(core::StreamType_MonoRight));
     }
+
+    return pipeline;
 }
 
 // =============================================================================
@@ -183,6 +193,9 @@ void OakCamera::update()
         m_sink->on_frame(frame);
         ++m_frame_counts[type];
     }
+
+    if (m_preview)
+        m_preview->update();
 }
 
 // =============================================================================
diff --git a/src/plugins/oak/core/oak_camera.hpp b/src/plugins/oak/core/oak_camera.hpp
index f2ab34c60..01f7f1aac 100644
--- a/src/plugins/oak/core/oak_camera.hpp
+++ b/src/plugins/oak/core/oak_camera.hpp
@@ -17,8 +17,9 @@ namespace plugins
 namespace oak
 {
 
-// Forward declaration -- FrameSink is defined in frame_sink.hpp.
+// Forward declarations
 class FrameSink;
+class PreviewStream;
 
 // ============================================================================
 // Stream configuration
@@ -41,6 +42,7 @@ struct OakConfig
     int bitrate = 8'000'000;
     int quality = 80;
     int keyframe_frequency = 30;
+    bool preview = false;
 };
 
 struct OakFrame
@@ -75,6 +77,7 @@ class OakCamera
 {
 public:
     OakCamera(const OakConfig& config, const std::vector<StreamConfig>& streams, std::unique_ptr<FrameSink> sink);
+    ~OakCamera();
 
     OakCamera(const OakCamera&) = delete;
     OakCamera& operator=(const OakCamera&) = delete;
@@ -89,15 +92,17 @@ class OakCamera
 
 private:
     dai::DeviceInfo find_device(const std::string& device_id);
-    void create_pipeline(const OakConfig& config,
-                         const std::vector<StreamConfig>& streams,
-                         const std::unordered_map<dai::CameraBoardSocket, std::string>& sensors);
+    dai::Pipeline create_pipeline(const OakConfig& config,
+                                  const std::vector<StreamConfig>& streams,
+                                  dai::ColorCameraProperties::SensorResolution color_resolution);
 
-    std::shared_ptr<dai::Pipeline> m_pipeline;
     std::shared_ptr<dai::Device> m_device;
     std::map<core::StreamType, std::shared_ptr<dai::DataOutputQueue>> m_queues;
+
     std::unique_ptr<FrameSink> m_sink;
     std::map<core::StreamType, uint64_t> m_frame_counts;
+
+    std::unique_ptr<PreviewStream> m_preview;
 };
 
 } // namespace oak
diff --git a/src/plugins/oak/core/preview_stream.cpp b/src/plugins/oak/core/preview_stream.cpp
new file mode 100644
index 000000000..043c6ee94
--- /dev/null
+++ b/src/plugins/oak/core/preview_stream.cpp
@@ -0,0 +1,156 @@
+// SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// SPDX-License-Identifier: Apache-2.0
+
+#include "preview_stream.hpp"
+
+#include <SDL.h>
+#include <iostream>
+
+namespace plugins
+{
+namespace oak
+{
+
+struct PreviewStream::Impl
+{
+    SDL_Window* window = nullptr;
+    SDL_Renderer* renderer = nullptr;
+    SDL_Texture* texture = nullptr;
+    int tex_width = 0;
+    int tex_height = 0;
+
+    std::shared_ptr<dai::DataOutputQueue> queue;
+
+    ~Impl()
+    {
+        if (texture)
+            SDL_DestroyTexture(texture);
+        if (renderer)
+            SDL_DestroyRenderer(renderer);
+        if (window)
+            SDL_DestroyWindow(window);
+        SDL_Quit();
+    }
+};
+
+PreviewStream::~PreviewStream() = default;
+
+std::unique_ptr<PreviewStream> PreviewStream::try_create(const std::string& name,
+                                                         dai::Pipeline& pipeline,
+                                                         dai::ColorCameraProperties::SensorResolution resolution)
+{
+    // Find existing ColorCamera on CAM_A, or create one
+    std::shared_ptr<dai::node::ColorCamera> camRgb;
+    for (auto& node : pipeline.getAllNodes())
+    {
+        auto cam = std::dynamic_pointer_cast<dai::node::ColorCamera>(node);
+        if (cam && cam->getBoardSocket() == dai::CameraBoardSocket::CAM_A)
+        {
+            camRgb = cam;
+            break;
+        }
+    }
+
+    if (!camRgb)
+    {
+        std::cout << "Creating new ColorCamera on CAM_A" << std::endl;
+        camRgb = pipeline.create<dai::node::ColorCamera>();
+        camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
+        camRgb->setResolution(resolution);
+        camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
+    }
+
+    int preview_w = 640;
+    int preview_h = (resolution == dai::ColorCameraProperties::SensorResolution::THE_800_P) ? 400 : 360;
+
+    camRgb->setPreviewSize(preview_w, preview_h);
+    camRgb->setInterleaved(true);
+
+    auto xout = pipeline.create<dai::node::XLinkOut>();
+    xout->setStreamName(name);
+    camRgb->preview.link(xout->input);
+
+    if (SDL_Init(SDL_INIT_VIDEO) != 0)
+    {
+        std::cerr << "Preview: SDL_Init failed: " << SDL_GetError() << std::endl;
+        return nullptr;
+    }
+
+    auto impl = std::make_unique<Impl>();
+
+    impl->window = SDL_CreateWindow(
+        name.c_str(), SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED, preview_w, preview_h, SDL_WINDOW_SHOWN);
+
+    if (!impl->window)
+    {
+        std::cerr << "Preview: SDL_CreateWindow failed: " << SDL_GetError() << std::endl;
+        return nullptr;
+    }
+
+    impl->renderer = SDL_CreateRenderer(impl->window, -1, SDL_RENDERER_ACCELERATED | SDL_RENDERER_PRESENTVSYNC);
+    if (!impl->renderer)
+        impl->renderer = SDL_CreateRenderer(impl->window, -1, 0);
+
+    if (!impl->renderer)
+    {
+        std::cerr << "Preview: SDL_CreateRenderer failed: " << SDL_GetError() << std::endl;
+        return nullptr;
+    }
+
+    auto stream = std::unique_ptr<PreviewStream>(new PreviewStream());
+    stream->m_impl = std::move(impl);
+
+    std::cout << "Color preview enabled (" << preview_w << "x" << preview_h << ")" << std::endl;
+    return stream;
+}
+
+void PreviewStream::setOutputQueue(std::shared_ptr<dai::DataOutputQueue> queue)
+{
+    m_impl->queue = std::move(queue);
+}
+
+void PreviewStream::update()
+{
+    auto frame = m_impl->queue->tryGet<dai::ImgFrame>();
+    if (!frame)
+        return;
+
+    const auto* data = frame->getData().data();
+    int width = frame->getWidth();
+    int height = frame->getHeight();
+
+    if (width != m_impl->tex_width || height != m_impl->tex_height)
+    {
+        if (m_impl->texture)
+            SDL_DestroyTexture(m_impl->texture);
+
+        m_impl->texture =
+            SDL_CreateTexture(m_impl->renderer, SDL_PIXELFORMAT_BGR24, SDL_TEXTUREACCESS_STREAMING, width, height);
+
+        if (!m_impl->texture)
+        {
+            std::cerr << "Preview: SDL_CreateTexture failed: " << SDL_GetError() << std::endl;
+            return;
+        }
+
+        m_impl->tex_width = width;
+        m_impl->tex_height = height;
+    }
+
+    SDL_UpdateTexture(m_impl->texture, nullptr, data, width * 3);
+    SDL_RenderClear(m_impl->renderer);
+    SDL_RenderCopy(m_impl->renderer, m_impl->texture, nullptr, nullptr);
+    SDL_RenderPresent(m_impl->renderer);
+
+    SDL_Event event;
+    while (SDL_PollEvent(&event))
+    {
+        if (event.type == SDL_QUIT)
+            return;
+        if (event.type == SDL_KEYDOWN && (event.key.keysym.sym == SDLK_ESCAPE || event.key.keysym.sym == SDLK_q))
+            return;
+    }
+}
+
+} // namespace oak
+} // namespace plugins
diff --git a/src/plugins/oak/core/preview_stream.hpp b/src/plugins/oak/core/preview_stream.hpp
new file mode 100644
index 000000000..6f258b94c
--- /dev/null
+++ b/src/plugins/oak/core/preview_stream.hpp
@@ -0,0 +1,56 @@
+// SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+// SPDX-License-Identifier: Apache-2.0
+
+#pragma once
+
+#include <depthai/depthai.hpp>
+
+#include <memory>
+#include <string>
+
+namespace plugins
+{
+namespace oak
+{
+
+/**
+ * @brief Self-contained color preview stream.
+ *
+ * Owns the full lifecycle: adds preview nodes to the pipeline, opens an SDL2
+ * window, connects to the device output queue, and polls/displays frames.
+ */
+class PreviewStream
+{
+public:
+    ~PreviewStream();
+
+    PreviewStream(const PreviewStream&) = delete;
+    PreviewStream& operator=(const PreviewStream&) = delete;
+
+    /**
+     * @brief Wire preview nodes into an existing pipeline and create the window.
+     *
+     * Searches the pipeline for an existing ColorCamera on CAM_A. If none is
+     * found, creates and configures one. Then attaches preview output nodes.
+     *
+     * @return A valid PreviewStream, or nullptr if the SDL window could not be created.
+     */
+    static std::unique_ptr<PreviewStream> try_create(const std::string& name,
+                                                     dai::Pipeline& pipeline,
+                                                     dai::ColorCameraProperties::SensorResolution resolution);
+
+    /** @brief Set the output queue to poll frames from. Call after Device::startPipeline. */
+    void setOutputQueue(std::shared_ptr<dai::DataOutputQueue> queue);
+
+    /** @brief Poll the queue and display a frame if available. */
+    void update();
+
+private:
+    PreviewStream() = default;
+
+    struct Impl;
+    std::unique_ptr<Impl> m_impl;
+};
+
+} // namespace oak
+} // namespace plugins
diff --git a/src/plugins/oak/main.cpp b/src/plugins/oak/main.cpp
index 9e7ac3433..a0563b11c 100644
--- a/src/plugins/oak/main.cpp
+++ b/src/plugins/oak/main.cpp
@@ -3,6 +3,7 @@
 
 #include "core/frame_sink.hpp"
 #include "core/oak_camera.hpp"
+#include "core/preview_stream.hpp"
 
 #include <atomic>
 #include <chrono>
@@ -105,6 +106,8 @@ void print_usage(const char* program_name)
         << "\nMetadata (mutually exclusive):\n"
         << "  --collection-prefix=PREFIX  Push metadata via OpenXR tensor extensions\n"
         << "  --mcap-filename=PATH        Record metadata to an MCAP file\n"
+        << "\nPreview:\n"
+        << "  --preview           Show live color camera preview via OpenCV window\n"
         << "\nGeneral:\n"
         << "  --help              Show this help message\n"
         << "\nExamples:\n"
@@ -155,6 +158,10 @@ try
         {
             camera_config.device_id = arg.substr(12);
         }
+        else if (arg == "--preview")
+        {
+            camera_config.preview = true;
+        }
         else if (arg.find("--collection-prefix=") == 0)
         {
             collection_prefix = arg.substr(20);

From d3c4cb8955a401a50c1d887d0ab28367691b1409 Mon Sep 17 00:00:00 2001
From: Shao Su <shaoxiangs@nvidia.com>
Date: Mon, 2 Mar 2026 11:05:28 -0800
Subject: [PATCH 2/4] update the sdlv2 version

---
 src/plugins/oak/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/plugins/oak/CMakeLists.txt b/src/plugins/oak/CMakeLists.txt
index 1834b301f..b3edf25a1 100644
--- a/src/plugins/oak/CMakeLists.txt
+++ b/src/plugins/oak/CMakeLists.txt
@@ -32,7 +32,7 @@ message(STATUS "Building OAK camera plugin with DepthAI ${depthai_VERSION}")
 # ==============================================================================
 # SDL2 (for live preview window, bundled via FetchContent)
 # ==============================================================================
-set(SDL2_VERSION "2.30.11")
+set(SDL2_VERSION "2.32.10")
 
 set(SDL_TEST OFF CACHE BOOL "" FORCE)
 set(SDL_SHARED ON CACHE BOOL "" FORCE)

From ded82fdbae77c1b4d582454f9ac9d1098b44ad6a Mon Sep 17 00:00:00 2001
From: Shao Su <shaoxiangs@nvidia.com>
Date: Mon, 2 Mar 2026 12:05:47 -0800
Subject: [PATCH 3/4] Resolve AI comments

---
 src/plugins/oak/CMakeLists.txt          | 11 +++----
 src/plugins/oak/README.md               | 44 +++++++++++++++----------
 src/plugins/oak/core/oak_camera.cpp     |  2 +-
 src/plugins/oak/core/preview_stream.cpp | 36 +++++++-------------
 src/plugins/oak/core/preview_stream.hpp |  8 ++---
 src/plugins/oak/main.cpp                |  5 ++-
 6 files changed, 48 insertions(+), 58 deletions(-)

diff --git a/src/plugins/oak/CMakeLists.txt b/src/plugins/oak/CMakeLists.txt
index b3edf25a1..77fe2cbc9 100644
--- a/src/plugins/oak/CMakeLists.txt
+++ b/src/plugins/oak/CMakeLists.txt
@@ -35,8 +35,8 @@ message(STATUS "Building OAK camera plugin with DepthAI ${depthai_VERSION}")
 set(SDL2_VERSION "2.32.10")
 
 set(SDL_TEST OFF CACHE BOOL "" FORCE)
-set(SDL_SHARED ON CACHE BOOL "" FORCE)
-set(SDL_STATIC OFF CACHE BOOL "" FORCE)
+set(SDL_SHARED OFF CACHE BOOL "" FORCE)
+set(SDL_STATIC ON CACHE BOOL "" FORCE)
 
 FetchContent_Declare(
     sdl2
@@ -63,13 +63,10 @@ target_link_libraries(camera_plugin_oak
         mcap::mcap
         oxr::oxr_core
         pusherio::pusherio
-        SDL2::SDL2
+        SDL2::SDL2-static
 )
 
-# Bundle SDL2 shared library alongside the binary
-install(TARGETS SDL2 LIBRARY DESTINATION plugins/oak_camera)
-
-# Set RPATH to find bundled libraries in same directory
+# Set RPATH so the binary finds bundled shared libraries (e.g. libusb) in its own directory
 set_target_properties(camera_plugin_oak PROPERTIES
     INSTALL_RPATH "$ORIGIN"
 )
diff --git a/src/plugins/oak/README.md b/src/plugins/oak/README.md
index e054a8304..05ea41a8d 100644
--- a/src/plugins/oak/README.md
+++ b/src/plugins/oak/README.md
@@ -29,11 +29,23 @@ cmake --build build --target camera_plugin_oak --parallel
 ## Usage
 
 ```bash
-# Record to a file (--output is required)
-./build/src/plugins/oak/camera_plugin_oak --output=./recordings/session.h264
+# Record a single color stream
+./build/src/plugins/oak/camera_plugin_oak --add-stream=camera=Color,output=./color.h264
 
-# Custom path and camera settings
-./build/src/plugins/oak/camera_plugin_oak --output=/tmp/session.h264 --width=1920 --height=1080 --fps=30 --bitrate=15000000
+# Record multiple streams
+./build/src/plugins/oak/camera_plugin_oak \
+  --add-stream=camera=Color,output=./color.h264 \
+  --add-stream=camera=MonoLeft,output=./left.h264 \
+  --add-stream=camera=MonoRight,output=./right.h264
+
+# Record with a live preview window
+./build/src/plugins/oak/camera_plugin_oak \
+  --add-stream=camera=Color,output=./color.h264 --preview
+
+# Record metadata to MCAP
+./build/src/plugins/oak/camera_plugin_oak \
+  --add-stream=camera=Color,output=./color.h264 \
+  --mcap-filename=./metadata.mcap
 
 # Show help
 ./build/src/plugins/oak/camera_plugin_oak --help
@@ -45,13 +57,14 @@ Press `Ctrl+C` to stop recording.
 
 | Option | Default | Description |
 |--------|---------|-------------|
-| `--width` | 1920 | Frame width |
-| `--height` | 1080 | Frame height |
-| `--fps` | 30 | Frame rate |
-| `--bitrate` | 8000000 | H.264 bitrate (bps) |
-| `--quality` | 80 | H.264 quality (1-100) |
-| `--output` | (required) | Full path for recording file |
-| `--collection-prefix` | oak_camera | Tensor collection prefix for metadata (per-stream IDs: `prefix/StreamName`) |
+| `--add-stream=camera=<name>,output=<path>` | (at least one required) | Add a capture stream. `camera` is one of `Color`, `MonoLeft`, `MonoRight`. Repeatable. |
+| `--fps=N` | 30 | Frame rate for all streams |
+| `--bitrate=N` | 8000000 | H.264 bitrate (bps) |
+| `--quality=N` | 80 | H.264 quality (1-100) |
+| `--device-id=ID` | first available | OAK device MxId |
+| `--preview` | off | Open a live SDL2 window showing the color camera feed |
+| `--collection-prefix=PREFIX` | | Push per-frame metadata via OpenXR tensor extensions |
+| `--mcap-filename=PATH` | | Record per-frame metadata to an MCAP file |
 
 ## Architecture
 
@@ -70,15 +83,10 @@ Press `Ctrl+C` to stop recording.
 
 ## Dependencies
 
-**System dependencies** (install before building):
-
-```bash
-sudo apt install libusb-1.0-0-dev
-```
-
-**Automatically built via CMake:**
+All dependencies are built automatically via CMake:
 
 - **DepthAI** - OAK camera interface
+- **SDL2** - Live preview window (used by `--preview`)
 
 ## Output Format
 
diff --git a/src/plugins/oak/core/oak_camera.cpp b/src/plugins/oak/core/oak_camera.cpp
index ffde4aa8d..d9dd88af7 100644
--- a/src/plugins/oak/core/oak_camera.cpp
+++ b/src/plugins/oak/core/oak_camera.cpp
@@ -54,7 +54,7 @@ OakCamera::OakCamera(const OakConfig& config, const std::vector<StreamConfig>& s
     auto pipeline = create_pipeline(config, streams, color_resolution);
 
     if (config.preview)
-        m_preview = PreviewStream::try_create(kPreviewStreamName, pipeline, color_resolution);
+        m_preview = PreviewStream::create(kPreviewStreamName, pipeline, color_resolution);
 
     m_device->startPipeline(pipeline);
 
diff --git a/src/plugins/oak/core/preview_stream.cpp b/src/plugins/oak/core/preview_stream.cpp
index 043c6ee94..50255ceff 100644
--- a/src/plugins/oak/core/preview_stream.cpp
+++ b/src/plugins/oak/core/preview_stream.cpp
@@ -5,6 +5,7 @@
 
 #include <SDL.h>
 #include <iostream>
+#include <stdexcept>
 
 namespace plugins
 {
@@ -29,15 +30,15 @@ struct PreviewStream::Impl
             SDL_DestroyRenderer(renderer);
         if (window)
             SDL_DestroyWindow(window);
-        SDL_Quit();
+        SDL_QuitSubSystem(SDL_INIT_VIDEO);
     }
 };
 
 PreviewStream::~PreviewStream() = default;
 
-std::unique_ptr<PreviewStream> PreviewStream::try_create(const std::string& name,
-                                                         dai::Pipeline& pipeline,
-                                                         dai::ColorCameraProperties::SensorResolution resolution)
+std::unique_ptr<PreviewStream> PreviewStream::create(const std::string& name,
+                                                     dai::Pipeline& pipeline,
+                                                     dai::ColorCameraProperties::SensorResolution resolution)
 {
     // Find existing ColorCamera on CAM_A, or create one
     std::shared_ptr<dai::node::ColorCamera> camRgb;
@@ -71,10 +72,7 @@ std::unique_ptr<PreviewStream> PreviewStream::try_create(const std::string& name
     camRgb->preview.link(xout->input);
 
     if (SDL_Init(SDL_INIT_VIDEO) != 0)
-    {
-        std::cerr << "Preview: SDL_Init failed: " << SDL_GetError() << std::endl;
-        return nullptr;
-    }
+        throw std::runtime_error(std::string("Preview: SDL_Init failed: ") + SDL_GetError());
 
     auto impl = std::make_unique<Impl>();
 
@@ -82,20 +80,14 @@ std::unique_ptr<PreviewStream> PreviewStream::try_create(const std::string& name
         name.c_str(), SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED, preview_w, preview_h, SDL_WINDOW_SHOWN);
 
     if (!impl->window)
-    {
-        std::cerr << "Preview: SDL_CreateWindow failed: " << SDL_GetError() << std::endl;
-        return nullptr;
-    }
+        throw std::runtime_error(std::string("Preview: SDL_CreateWindow failed: ") + SDL_GetError());
 
     impl->renderer = SDL_CreateRenderer(impl->window, -1, SDL_RENDERER_ACCELERATED | SDL_RENDERER_PRESENTVSYNC);
     if (!impl->renderer)
         impl->renderer = SDL_CreateRenderer(impl->window, -1, 0);
 
     if (!impl->renderer)
-    {
-        std::cerr << "Preview: SDL_CreateRenderer failed: " << SDL_GetError() << std::endl;
-        return nullptr;
-    }
+        throw std::runtime_error(std::string("Preview: SDL_CreateRenderer failed: ") + SDL_GetError());
 
     auto stream = std::unique_ptr<PreviewStream>(new PreviewStream());
     stream->m_impl = std::move(impl);
@@ -111,6 +103,9 @@ void PreviewStream::setOutputQueue(std::shared_ptr<dai::DataOutputQueue> queue)
 
 void PreviewStream::update()
 {
+    if (!m_impl->queue)
+        throw std::runtime_error("Preview: Output queue not set");
+
     auto frame = m_impl->queue->tryGet<dai::ImgFrame>();
     if (!frame)
         return;
@@ -141,15 +136,6 @@ void PreviewStream::update()
     SDL_RenderClear(m_impl->renderer);
     SDL_RenderCopy(m_impl->renderer, m_impl->texture, nullptr, nullptr);
     SDL_RenderPresent(m_impl->renderer);
-
-    SDL_Event event;
-    while (SDL_PollEvent(&event))
-    {
-        if (event.type == SDL_QUIT)
-            return;
-        if (event.type == SDL_KEYDOWN && (event.key.keysym.sym == SDLK_ESCAPE || event.key.keysym.sym == SDLK_q))
-            return;
-    }
 }
 
 } // namespace oak
diff --git a/src/plugins/oak/core/preview_stream.hpp b/src/plugins/oak/core/preview_stream.hpp
index 6f258b94c..f40c3fa4e 100644
--- a/src/plugins/oak/core/preview_stream.hpp
+++ b/src/plugins/oak/core/preview_stream.hpp
@@ -33,11 +33,11 @@ class PreviewStream
      * Searches the pipeline for an existing ColorCamera on CAM_A. If none is
      * found, creates and configures one. Then attaches preview output nodes.
      *
-     * @return A valid PreviewStream, or nullptr if the SDL window could not be created.
+     * @throws std::runtime_error if SDL initialisation or window creation fails.
      */
-    static std::unique_ptr<PreviewStream> try_create(const std::string& name,
-                                                     dai::Pipeline& pipeline,
-                                                     dai::ColorCameraProperties::SensorResolution resolution);
+    static std::unique_ptr<PreviewStream> create(const std::string& name,
+                                                 dai::Pipeline& pipeline,
+                                                 dai::ColorCameraProperties::SensorResolution resolution);
 
     /** @brief Set the output queue to poll frames from. Call after Device::startPipeline. */
     void setOutputQueue(std::shared_ptr<dai::DataOutputQueue> queue);
diff --git a/src/plugins/oak/main.cpp b/src/plugins/oak/main.cpp
index a0563b11c..62510d8fb 100644
--- a/src/plugins/oak/main.cpp
+++ b/src/plugins/oak/main.cpp
@@ -3,7 +3,6 @@
 
 #include "core/frame_sink.hpp"
 #include "core/oak_camera.hpp"
-#include "core/preview_stream.hpp"
 
 #include <atomic>
 #include <chrono>
@@ -107,13 +106,13 @@ void print_usage(const char* program_name)
         << "  --collection-prefix=PREFIX  Push metadata via OpenXR tensor extensions\n"
         << "  --mcap-filename=PATH        Record metadata to an MCAP file\n"
         << "\nPreview:\n"
-        << "  --preview           Show live color camera preview via OpenCV window\n"
+        << "  --preview           Show live color camera preview via SDL2 window\n"
         << "\nGeneral:\n"
         << "  --help              Show this help message\n"
         << "\nExamples:\n"
         << "  " << program_name << " --add-stream camera=Color,output=./color.h264\n"
         << "  " << program_name
-        << " --add-stream=camera=Color,output=./color.h264 --add-stream=camera=LeftMono,output=./left.h264 --add-stream=camera=RightMono,output=./right.h264\n";
+        << " --add-stream=camera=Color,output=./color.h264 --add-stream=camera=MonoLeft,output=./left.h264 --add-stream=camera=MonoRight,output=./right.h264\n";
 }
 
 // =============================================================================

From 3d08a8b97a4e34b7848420ea2641d7cd71cb5073 Mon Sep 17 00:00:00 2001
From: Shao Su <shaoxiangs@nvidia.com>
Date: Tue, 3 Mar 2026 14:43:10 -0800
Subject: [PATCH 4/4] Use depthai 3.3.0 and change the build system

---
 .github/workflows/build-ubuntu.yml      |  32 +++-
 .github/workflows/build-windows.yml     |  31 ++--
 CMakeLists.txt                          |  22 +--
 cmake/Hunter/config.cmake               |  13 --
 cmake/SetupHunter.cmake                 | 112 --------------
 src/plugins/oak/CMakeLists.txt          | 187 +++++++++++++++++++++---
 src/plugins/oak/README.md               |  29 +++-
 src/plugins/oak/core/oak_camera.cpp     |  93 +++++-------
 src/plugins/oak/core/oak_camera.hpp     |  13 +-
 src/plugins/oak/core/preview_stream.cpp |  40 ++---
 src/plugins/oak/core/preview_stream.hpp |  21 ++-
 vcpkg.json                              |  28 ++++
 12 files changed, 327 insertions(+), 294 deletions(-)
 delete mode 100644 cmake/Hunter/config.cmake
 delete mode 100644 cmake/SetupHunter.cmake
 create mode 100644 vcpkg.json

diff --git a/.github/workflows/build-ubuntu.yml b/.github/workflows/build-ubuntu.yml
index ef7e43e9a..fc5b80df2 100644
--- a/.github/workflows/build-ubuntu.yml
+++ b/.github/workflows/build-ubuntu.yml
@@ -39,7 +39,8 @@ jobs:
     - name: Install Apt dependencies
       run: |
         sudo apt-get update
-        sudo apt-get install -y build-essential cmake libx11-dev clang-format-14 ccache
+        sudo apt-get install -y build-essential cmake libx11-dev clang-format-14 ccache \
+          autoconf automake libtool pkg-config libudev-dev
 
     - name: Install patchelf (Release only)
       if: ${{ matrix.build_type == 'Release' }}
@@ -52,14 +53,24 @@ jobs:
       with:
         ngc-cli-api-key: ${{ secrets.NGC_TELEOP_CORE_GITHUB_SERVICE_KEY }}
 
-    # Hunter cache - caches depthai dependencies (OpenSSL, CURL, etc.)
-    - name: Cache Hunter packages
+    # vcpkg - required when BUILD_PLUGIN_OAK_CAMERA=ON for DepthAI v3.x deps
+    - name: Cache vcpkg
       uses: actions/cache@v4
       with:
-        path: ~/.hunter
-        key: hunter-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('cmake/SetupHunter.cmake') }}
+        path: |
+          ~/vcpkg
+          build/vcpkg_installed
+        key: vcpkg-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('vcpkg.json') }}
         restore-keys: |
-          hunter-${{ runner.os }}-${{ runner.arch }}-
+          vcpkg-${{ runner.os }}-${{ runner.arch }}-
+
+    - name: Setup vcpkg
+      run: |
+        if [ ! -f ~/vcpkg/vcpkg ]; then
+          git clone https://github.com/microsoft/vcpkg ~/vcpkg
+          ~/vcpkg/bootstrap-vcpkg.sh -disableMetrics
+        fi
+        echo "VCPKG_ROOT=$HOME/vcpkg" >> $GITHUB_ENV
 
     - name: Cache ccache
       uses: actions/cache@v4
@@ -75,7 +86,14 @@ jobs:
         ccache --show-config
 
     - name: Configure CMake
-      run: cmake -B build -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DISAAC_TELEOP_PYTHON_VERSION=${{ matrix.python_version }} -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DBUILD_PLUGIN_OAK_CAMERA=ON
+      run: >
+        cmake -B build
+        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -DISAAC_TELEOP_PYTHON_VERSION=${{ matrix.python_version }}
+        -DCMAKE_C_COMPILER_LAUNCHER=ccache
+        -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+        -DBUILD_PLUGIN_OAK_CAMERA=ON
+        -DCMAKE_TOOLCHAIN_FILE=${{ env.VCPKG_ROOT }}/scripts/buildsystems/vcpkg.cmake
 
     - name: Build
       run: cmake --build build --parallel 4
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 2c66fd21d..22fddff26 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -36,15 +36,29 @@ jobs:
     - name: Install sccache
       run: choco install -y sccache
 
-    # Hunter cache - caches depthai dependencies
-    # Note: Hunter uses C:/.hunter on Windows (at drive root)
-    - name: Cache Hunter packages
+    # Put cl.exe and other build tools in PATH.
+    # Must run before vcpkg setup so our VCPKG_ROOT isn't overridden by vcvarsall.
+    - name: Setup MSVC (Developer Command Prompt)
+      uses: ilammy/msvc-dev-cmd@v1
+
+    # vcpkg - required when BUILD_PLUGIN_OAK_CAMERA=ON for DepthAI v3.x deps
+    - name: Cache vcpkg
       uses: actions/cache@v4
       with:
-        path: C:/.hunter
-        key: hunter-${{ runner.os }}-${{ hashFiles('cmake/SetupHunter.cmake') }}
+        path: |
+          C:\vcpkg
+          build\vcpkg_installed
+        key: vcpkg-${{ runner.os }}-${{ hashFiles('vcpkg.json') }}
         restore-keys: |
-          hunter-${{ runner.os }}-
+          vcpkg-${{ runner.os }}-
+
+    - name: Setup vcpkg
+      run: |
+        if (!(Test-Path C:\vcpkg\vcpkg.exe)) {
+          git clone https://github.com/microsoft/vcpkg C:\vcpkg
+          C:\vcpkg\bootstrap-vcpkg.bat -disableMetrics
+        }
+        echo "VCPKG_ROOT=C:\vcpkg" >> $env:GITHUB_ENV
 
     - name: Cache sccache
       uses: actions/cache@v4
@@ -58,10 +72,6 @@ jobs:
       run: |
         sccache --version
 
-    # Put cl.exe and other build tools in PATH
-    - name: Setup MSVC (Developer Command Prompt)
-      uses: ilammy/msvc-dev-cmd@v1
-
     - name: Configure CMake
       # Note:
       # sccache does not work with VSBuild, so we use Ninja generator here.
@@ -77,6 +87,7 @@ jobs:
         -DCMAKE_CXX_COMPILER="cl.exe"
         -DCMAKE_MSVC_DEBUG_INFORMATION_FORMAT=Embedded
         -DBUILD_PLUGIN_OAK_CAMERA=ON
+        -DCMAKE_TOOLCHAIN_FILE=${{ env.VCPKG_ROOT }}/scripts/buildsystems/vcpkg.cmake
 
     - name: Build
       run: cmake --build build --parallel
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5466ab596..c231babf9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20...3.25)
@@ -10,22 +10,12 @@ include(cmake/IsaacTeleopVersion.cmake)
 isaac_teleop_read_version("${CMAKE_CURRENT_SOURCE_DIR}/VERSION" ISAAC_TELEOP_VERSION ISAAC_TELEOP_PYPROJECT_VERSION)
 
 # ==============================================================================
-# Install Prefix Setup (must be before HunterGate)
+# Install Prefix Setup
 # ==============================================================================
-# Set default install prefix early, before HunterGate which may affect
-# CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT
 if(NOT DEFINED CMAKE_INSTALL_PREFIX OR CMAKE_INSTALL_PREFIX STREQUAL "" OR CMAKE_INSTALL_PREFIX MATCHES "^/usr/local")
     set(CMAKE_INSTALL_PREFIX "${CMAKE_CURRENT_SOURCE_DIR}/install" CACHE PATH "Install prefix" FORCE)
 endif()
 
-# OAK camera plugin uses Hunter/DepthAI; optional so builds like teleop_ros2 can skip it.
-option(BUILD_PLUGIN_OAK_CAMERA "Build OAK camera plugin (uses Hunter/DepthAI)" OFF)
-# ==============================================================================
-
-# HunterGate Setup (must be before project())
-# Defines BUILD_PLUGINS option and initializes Hunter for DepthAI dependencies
-include(cmake/SetupHunter.cmake)
-
 project(IsaacTeleop VERSION ${ISAAC_TELEOP_VERSION} LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 20)
@@ -51,13 +41,9 @@ if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE)
 endif()
 
-# Note: CMAKE_INSTALL_PREFIX is set early (before HunterGate) to avoid issues
-# with CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT being affected by Hunter's
-# internal project() call.
-
 # Options
-# Note: BUILD_PLUGINS is defined in cmake/SetupHunter.cmake before project()
-# Note: BUILD_PYTHON_BINDINGS is defined in cmake/SetupPython.cmake
+option(BUILD_PLUGINS "Build plugins" ON)
+option(BUILD_PLUGIN_OAK_CAMERA "Build OAK camera plugin (requires vcpkg for DepthAI v3.x)" OFF)
 option(BUILD_EXAMPLES "Build examples" ON)
 option(BUILD_EXAMPLE_TELEOP_ROS2 "Build only the teleop_ros2 example (e.g. for Docker)" OFF)
 option(BUILD_TESTING "Build unit tests" ON)
diff --git a/cmake/Hunter/config.cmake b/cmake/Hunter/config.cmake
deleted file mode 100644
index f8649a804..000000000
--- a/cmake/Hunter/config.cmake
+++ /dev/null
@@ -1,13 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: Apache-2.0
-#
-# Hunter package configuration aggregator.
-# This file includes project-specific configs for all Hunter-managed dependencies.
-# To add a new project's Hunter config, create a config-<project>.cmake file and include it below.
-
-# DepthAI v2.29.0 dependencies
-# Source: https://github.com/luxonis/depthai-core/blob/v2.29.0/cmake/Hunter/config.cmake
-include("${CMAKE_CURRENT_LIST_DIR}/config-depthai.cmake")
-
-# Future project configs can be added here:
-# include("${CMAKE_CURRENT_LIST_DIR}/config-another-project.cmake")
diff --git a/cmake/SetupHunter.cmake b/cmake/SetupHunter.cmake
deleted file mode 100644
index 0abf0a652..000000000
--- a/cmake/SetupHunter.cmake
+++ /dev/null
@@ -1,112 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: Apache-2.0
-
-# ==============================================================================
-# HunterGate Setup (must be before project())
-# ==============================================================================
-# Required for DepthAI plugin. Hunter is initialized here so that when DepthAI
-# is added via FetchContent, it reuses our Hunter configuration.
-
-option(BUILD_PLUGINS "Build plugins" ON)
-# Hunter/DepthAI are only needed for the OAK camera plugin.
-if(BUILD_PLUGINS AND BUILD_PLUGIN_OAK_CAMERA)
-    # Set variables needed by Hunter config for DepthAI dependencies
-    option(DEPTHAI_ENABLE_LIBUSB "Enable libusb for DepthAI" ON)
-    if(WIN32)
-        set(DEPTHAI_CURL_USE_SCHANNEL ON)
-        set(DEPTHAI_CURL_USE_OPENSSL OFF)
-    else()
-        set(DEPTHAI_CURL_USE_SCHANNEL OFF)
-        set(DEPTHAI_CURL_USE_OPENSSL ON)
-    endif()
-
-    # Enable parallel builds for Hunter packages
-    # This speeds up the initial build of depthai dependencies significantly
-    include(ProcessorCount)
-    ProcessorCount(NPROC)
-    if(NOT NPROC EQUAL 0)
-        set(HUNTER_JOBS_NUMBER ${NPROC} CACHE STRING "Parallel jobs for Hunter builds")
-        message(STATUS "Hunter parallel jobs: ${HUNTER_JOBS_NUMBER}")
-    endif()
-
-    # Download HunterGate.cmake from GitHub if not present or empty
-    set(HUNTERGATE_VERSION "v0.11.0")
-    set(HUNTERGATE_SHA1 "c581aaacda7fee2e4586adf39084f24709b8e51f")
-    set(HUNTERGATE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/HunterGate.cmake")
-
-    set(_huntergate_need_download FALSE)
-    if(NOT EXISTS "${HUNTERGATE_PATH}")
-        set(_huntergate_need_download TRUE)
-    else()
-        file(SIZE "${HUNTERGATE_PATH}" _huntergate_size)
-        if(_huntergate_size EQUAL 0)
-            file(REMOVE "${HUNTERGATE_PATH}")
-            set(_huntergate_need_download TRUE)
-        endif()
-    endif()
-
-    if(_huntergate_need_download)
-        message(STATUS "Downloading HunterGate.cmake ${HUNTERGATE_VERSION}...")
-        file(DOWNLOAD
-            "https://raw.githubusercontent.com/cpp-pm/gate/${HUNTERGATE_VERSION}/cmake/HunterGate.cmake"
-            "${HUNTERGATE_PATH}"
-            EXPECTED_HASH SHA1=${HUNTERGATE_SHA1}
-            STATUS huntergate_download_status
-            TLS_VERIFY ON
-        )
-        list(GET huntergate_download_status 0 huntergate_status_code)
-        list(GET huntergate_download_status 1 huntergate_status_msg)
-        if(NOT huntergate_status_code EQUAL 0)
-            file(REMOVE "${HUNTERGATE_PATH}")  # Clean up failed download
-            message(FATAL_ERROR "Failed to download HunterGate.cmake: ${huntergate_status_msg}")
-        endif()
-        message(STATUS "HunterGate.cmake downloaded successfully")
-    endif()
-
-    # Download DepthAI Hunter config from GitHub if not present or empty
-    set(DEPTHAI_VERSION "v2.29.0")
-    set(DEPTHAI_CONFIG_SHA1 "a88698ab81b7edef79a2446edcf649dc92cddcbc")
-    set(DEPTHAI_CONFIG_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Hunter/config-depthai.cmake")
-
-    set(_depthai_config_need_download FALSE)
-    if(NOT EXISTS "${DEPTHAI_CONFIG_PATH}")
-        set(_depthai_config_need_download TRUE)
-    else()
-        file(SIZE "${DEPTHAI_CONFIG_PATH}" _depthai_config_size)
-        if(_depthai_config_size EQUAL 0)
-            file(REMOVE "${DEPTHAI_CONFIG_PATH}")
-            set(_depthai_config_need_download TRUE)
-        endif()
-    endif()
-
-    if(_depthai_config_need_download)
-        message(STATUS "Downloading Hunter config for DepthAI ${DEPTHAI_VERSION}...")
-        file(DOWNLOAD
-            "https://raw.githubusercontent.com/luxonis/depthai-core/${DEPTHAI_VERSION}/cmake/Hunter/config.cmake"
-            "${DEPTHAI_CONFIG_PATH}"
-            EXPECTED_HASH SHA1=${DEPTHAI_CONFIG_SHA1}
-            STATUS depthai_config_download_status
-            TLS_VERIFY ON
-        )
-        list(GET depthai_config_download_status 0 depthai_config_status_code)
-        list(GET depthai_config_download_status 1 depthai_config_status_msg)
-        if(NOT depthai_config_status_code EQUAL 0)
-            file(REMOVE "${DEPTHAI_CONFIG_PATH}")  # Clean up failed download
-            message(FATAL_ERROR "Failed to download DepthAI Hunter config: ${depthai_config_status_msg}")
-        endif()
-        message(STATUS "DepthAI Hunter config downloaded successfully")
-    endif()
-
-    include("${HUNTERGATE_PATH}")
-
-    # Set CMAKE_POLICY_VERSION_MINIMUM as environment variable so it's inherited
-    # by all child CMake processes (Hunter ExternalProject builds)
-    # This fixes compatibility with CMake >= 4.0 for packages with old cmake_minimum_required
-    set(ENV{CMAKE_POLICY_VERSION_MINIMUM} "3.5")
-
-    HunterGate(
-        URL "https://github.com/cpp-pm/hunter/archive/9d9242b60d5236269f894efd3ddd60a9ca83dd7f.tar.gz"
-        SHA1 "16cc954aa723bccd16ea45fc91a858d0c5246376"
-        LOCAL  # Uses cmake/Hunter/config.cmake
-    )
-endif()
diff --git a/src/plugins/oak/CMakeLists.txt b/src/plugins/oak/CMakeLists.txt
index 77fe2cbc9..b111df13a 100644
--- a/src/plugins/oak/CMakeLists.txt
+++ b/src/plugins/oak/CMakeLists.txt
@@ -2,32 +2,185 @@
 # SPDX-License-Identifier: Apache-2.0
 
 # ==============================================================================
-# OAK Camera Plugin
+# OAK Camera Plugin (DepthAI v3.x with vcpkg dependencies)
 # ==============================================================================
-# Uses FetchContent with HunterGate initialized at top-level for single-pass build.
+# This plugin uses FetchContent for DepthAI and vcpkg for its transitive deps.
+#
+# Prerequisites:
+#   1. Build tools for vcpkg to build libusb (Linux only):
+#      sudo apt install libudev-dev autoconf automake libtool pkg-config
+#
+#   2. Install vcpkg (one-time):
+#      git clone https://github.com/microsoft/vcpkg ~/.vcpkg
+#      ~/.vcpkg/bootstrap-vcpkg.sh
+#      echo 'export VCPKG_ROOT=~/.vcpkg' >> ~/.bashrc && source ~/.bashrc
+#
+#   3. Configure with vcpkg toolchain:
+#      cmake -B build -DBUILD_PLUGIN_OAK_CAMERA=ON \
+#            -DCMAKE_TOOLCHAIN_FILE=$VCPKG_ROOT/scripts/buildsystems/vcpkg.cmake
 # ==============================================================================
 
+# ==============================================================================
+# Prerequisite Checks
+# ==============================================================================
+
+# Check 1: vcpkg toolchain must be loaded and functional
+if(NOT DEFINED VCPKG_INSTALLED_DIR OR NOT DEFINED VCPKG_TARGET_TRIPLET)
+    message(FATAL_ERROR
+        "================================================================================\n"
+        "OAK camera plugin requires vcpkg for DepthAI v3.x dependencies.\n"
+        "\n"
+        "Make sure VCPKG_ROOT is set and the toolchain file path is correct:\n"
+        "  export VCPKG_ROOT=~/.vcpkg\n"
+        "\n"
+        "Setup vcpkg (one-time):\n"
+        "  git clone https://github.com/microsoft/vcpkg ~/.vcpkg\n"
+        "  ~/.vcpkg/bootstrap-vcpkg.sh\n"
+        "  echo 'export VCPKG_ROOT=~/.vcpkg' >> ~/.bashrc && source ~/.bashrc\n"
+        "\n"
+        "Then configure (clean build dir first!):\n"
+        "  rm -rf build\n"
+        "  cmake -B build -DBUILD_PLUGIN_OAK_CAMERA=ON"
+        " -DCMAKE_TOOLCHAIN_FILE=$$VCPKG_ROOT/scripts/buildsystems/vcpkg.cmake\n"
+        "\n"
+        "Or disable OAK camera plugin:\n"
+        "  cmake -B build -DBUILD_PLUGIN_OAK_CAMERA=OFF\n"
+        "================================================================================\n"
+    )
+endif()
+
+# Check 2: libudev (Linux only — required for vcpkg to build libusb)
+if(UNIX AND NOT APPLE)
+    find_package(PkgConfig QUIET)
+    if(PkgConfig_FOUND)
+        pkg_check_modules(LIBUDEV QUIET libudev)
+    endif()
+
+    if(NOT LIBUDEV_FOUND)
+        find_path(LIBUDEV_INCLUDE_DIR NAMES libudev.h)
+        find_library(LIBUDEV_LIBRARY NAMES udev)
+        if(LIBUDEV_INCLUDE_DIR AND LIBUDEV_LIBRARY)
+            set(LIBUDEV_FOUND TRUE)
+        endif()
+    endif()
+
+    if(NOT LIBUDEV_FOUND)
+        message(FATAL_ERROR
+            "================================================================================\n"
+            "OAK camera plugin requires libudev-dev for vcpkg to build libusb.\n"
+            "\n"
+            "Install on Ubuntu/Debian:\n"
+            "  sudo apt install libudev-dev autoconf automake libtool pkg-config\n"
+            "\n"
+            "Or disable OAK camera plugin:\n"
+            "  cmake -B build -DBUILD_PLUGIN_OAK_CAMERA=OFF\n"
+            "================================================================================\n"
+        )
+    endif()
+    message(STATUS "Found libudev (vcpkg will build libusb)")
+endif()
+
 include(FetchContent)
 
 # ==============================================================================
-# DepthAI Setup
+# DepthAI v3.x Setup via FetchContent
 # ==============================================================================
-message(STATUS "Configuring DepthAI...")
+set(DEPTHAI_VERSION "3.3.0")
 
-# Configure DepthAI build options
 set(DEPTHAI_BUILD_EXAMPLES OFF CACHE BOOL "" FORCE)
 set(DEPTHAI_BUILD_TESTS OFF CACHE BOOL "" FORCE)
 set(DEPTHAI_BUILD_DOCS OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_INSTALL OFF CACHE BOOL "" FORCE)
+
+# Use system vcpkg, not DepthAI's internal bootstrap
+set(DEPTHAI_BOOTSTRAP_VCPKG OFF CACHE BOOL "" FORCE)
+
+# Use vcpkg-provided packages where available
+set(DEPTHAI_JSON_EXTERNAL ON CACHE BOOL "" FORCE)
+set(DEPTHAI_LIBNOP_EXTERNAL OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_XTENSOR_EXTERNAL OFF CACHE BOOL "" FORCE)
+
+# Disable optional features we don't need
 set(DEPTHAI_OPENCV_SUPPORT OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_PCL_SUPPORT OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_XTENSOR_SUPPORT ON CACHE BOOL "" FORCE)
+set(DEPTHAI_ENABLE_BACKWARD OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_ENABLE_CURL OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_ENABLE_APRIL_TAG OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_ENABLE_REMOTE_CONNECTION OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_ENABLE_PROTOBUF OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_ENABLE_MP4V2 OFF CACHE BOOL "" FORCE)
+set(DEPTHAI_DYNAMIC_CALIBRATION_SUPPORT OFF CACHE BOOL "" FORCE)
+
+# ==============================================================================
+# Bridge vcpkg's libusb to DepthAI's expected usb-1.0 target
+# ==============================================================================
+set(USB10_CONFIG_DIR "${CMAKE_BINARY_DIR}/cmake/usb-1.0")
+file(MAKE_DIRECTORY "${USB10_CONFIG_DIR}")
+file(WRITE "${USB10_CONFIG_DIR}/usb-1.0Config.cmake" [=[
+if(TARGET usb-1.0)
+    set(usb-1.0_FOUND TRUE)
+    return()
+endif()
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(LIBUSB REQUIRED IMPORTED_TARGET libusb-1.0)
+
+add_library(usb-1.0 ALIAS PkgConfig::LIBUSB)
+set(usb-1.0_FOUND TRUE)
+message(STATUS "usb-1.0: using vcpkg libusb via pkg-config")
+]=])
+
+set(usb-1.0_DIR "${USB10_CONFIG_DIR}" CACHE PATH "" FORCE)
+message(STATUS "Generated usb-1.0 config at ${USB10_CONFIG_DIR}")
+
+# XLink (a DepthAI sub-dependency) includes <libusb-1.0/libusb.h> directly
+# without propagating vcpkg's include dirs through its targets.
+if(DEFINED VCPKG_INSTALLED_DIR AND DEFINED VCPKG_TARGET_TRIPLET)
+    include_directories(SYSTEM "${VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}/include")
+endif()
+
+message(STATUS "Fetching DepthAI v${DEPTHAI_VERSION}...")
 
 FetchContent_Declare(
     depthai
-    URL https://github.com/luxonis/depthai-core/releases/download/v2.29.0/depthai-core-v2.29.0.tar.gz
+    GIT_REPOSITORY https://github.com/luxonis/depthai-core.git
+    GIT_TAG v${DEPTHAI_VERSION}
+    GIT_SHALLOW TRUE
 )
 
-FetchContent_MakeAvailable(depthai)
+FetchContent_GetProperties(depthai)
+if(NOT depthai_POPULATED)
+    FetchContent_Populate(depthai)
+
+    # Patch v3.3.0 bug: recordConfig should be pipeline->recordConfig
+    # Guard: only apply if the unpatched pattern is still present (idempotent)
+    if(DEPTHAI_VERSION VERSION_EQUAL "3.3.0")
+        set(_patch_file "${depthai_SOURCE_DIR}/src/utility/PipelineImplHelper.cpp")
+        if(EXISTS "${_patch_file}")
+            file(READ "${_patch_file}" _patch_content)
+            string(FIND "${_patch_content}" "pipeline->recordConfig.state = RecordConfig::RecordReplayState::NONE" _already_patched)
+            if(_already_patched EQUAL -1)
+                string(REPLACE
+                    "recordConfig.state = RecordConfig::RecordReplayState::NONE"
+                    "pipeline->recordConfig.state = RecordConfig::RecordReplayState::NONE"
+                    _patch_content "${_patch_content}")
+                file(WRITE "${_patch_file}" "${_patch_content}")
+                message(STATUS "Applied v3.3.0 recordConfig patch")
+            else()
+                message(STATUS "v3.3.0 recordConfig patch already applied")
+            endif()
+        endif()
+    endif()
+
+    # Override export() to no-op — DepthAI's export fails with vcpkg IMPORTED targets
+    function(export)
+    endfunction()
+
+    add_subdirectory(${depthai_SOURCE_DIR} ${depthai_BINARY_DIR} EXCLUDE_FROM_ALL)
+endif()
 
-message(STATUS "Building OAK camera plugin with DepthAI ${depthai_VERSION}")
+message(STATUS "DepthAI v${DEPTHAI_VERSION} ready")
 
 # ==============================================================================
 # SDL2 (for live preview window, bundled via FetchContent)
@@ -48,6 +201,8 @@ message(STATUS "SDL2 ${SDL2_VERSION} — live preview support enabled")
 # ==============================================================================
 # Build OAK Plugin
 # ==============================================================================
+message(STATUS "Building OAK camera plugin")
+
 add_executable(camera_plugin_oak
     main.cpp
     core/oak_camera.cpp
@@ -66,7 +221,6 @@ target_link_libraries(camera_plugin_oak
         SDL2::SDL2-static
 )
 
-# Set RPATH so the binary finds bundled shared libraries (e.g. libusb) in its own directory
 set_target_properties(camera_plugin_oak PROPERTIES
     INSTALL_RPATH "$ORIGIN"
 )
@@ -80,18 +234,3 @@ install(FILES
     "${CMAKE_CURRENT_SOURCE_DIR}/README.md"
     DESTINATION plugins/oak_camera
 )
-
-# Install libusb from depthai dependencies (required at runtime)
-# The library is built by depthai and installed to its dependencies folder
-install(CODE "
-    # Find libusb in depthai's dependency installation
-    set(LIBUSB_SOURCE \"\${CMAKE_INSTALL_PREFIX}/lib/cmake/depthai/dependencies/lib/libusb-1.0.so\")
-    set(LIBUSB_DEST \"\${CMAKE_INSTALL_PREFIX}/plugins/oak_camera/libusb-1.0.so\")
-
-    if(EXISTS \"\${LIBUSB_SOURCE}\")
-        message(STATUS \"Installing libusb-1.0.so from depthai dependencies to plugin directory\")
-        file(COPY \"\${LIBUSB_SOURCE}\" DESTINATION \"\${CMAKE_INSTALL_PREFIX}/plugins/oak_camera/\")
-    else()
-        message(WARNING \"libusb-1.0.so not found at \${LIBUSB_SOURCE}\")
-    endif()
-")
diff --git a/src/plugins/oak/README.md b/src/plugins/oak/README.md
index 05ea41a8d..350b4c936 100644
--- a/src/plugins/oak/README.md
+++ b/src/plugins/oak/README.md
@@ -16,13 +16,29 @@ C++ plugin that captures H.264 video from OAK cameras and saves to raw H.264 fil
 
 ## Build
 
-DepthAI is fetched and built automatically via FetchContent. The first build takes ~10-15 minutes (mostly DepthAI and its Hunter dependencies), subsequent builds are fast.
+DepthAI v3.x is fetched and built automatically via FetchContent. Dependencies are managed
+by **vcpkg**. The first build takes ~10-15 minutes (mostly vcpkg deps + DepthAI), subsequent
+builds are fast.
+
+### Prerequisites
+
+```bash
+# Install build tools for vcpkg to build libusb (Linux)
+sudo apt install libudev-dev autoconf automake libtool pkg-config
+
+# Install vcpkg (one-time)
+git clone https://github.com/microsoft/vcpkg ~/.vcpkg
+~/.vcpkg/bootstrap-vcpkg.sh
+echo 'export VCPKG_ROOT=~/.vcpkg' >> ~/.bashrc && source ~/.bashrc
+```
+
+### Configure and Build
 
 ```bash
 cd IsaacTeleop
 
-# Configure and build
-cmake -B build -DBUILD_PLUGIN_OAK_CAMERA=ON
+cmake -B build -DBUILD_PLUGIN_OAK_CAMERA=ON \
+    -DCMAKE_TOOLCHAIN_FILE=$VCPKG_ROOT/scripts/buildsystems/vcpkg.cmake
 cmake --build build --target camera_plugin_oak --parallel
 ```
 
@@ -83,10 +99,11 @@ Press `Ctrl+C` to stop recording.
 
 ## Dependencies
 
-All dependencies are built automatically via CMake:
+Transitive dependencies via **vcpkg**, DepthAI and SDL2 via FetchContent:
 
-- **DepthAI** - OAK camera interface
-- **SDL2** - Live preview window (used by `--preview`)
+- **DepthAI v3.x** - OAK camera interface (FetchContent)
+- **SDL2** - Live preview window (FetchContent, used by `--preview`)
+- **vcpkg** - nlohmann-json, spdlog, libusb, openssl, libarchive, etc.
 
 ## Output Format
 
diff --git a/src/plugins/oak/core/oak_camera.cpp b/src/plugins/oak/core/oak_camera.cpp
index d9dd88af7..5cf3eb2d6 100644
--- a/src/plugins/oak/core/oak_camera.cpp
+++ b/src/plugins/oak/core/oak_camera.cpp
@@ -36,33 +36,19 @@ OakCamera::OakCamera(const OakConfig& config, const std::vector<StreamConfig>& s
     auto device_info = find_device(config.device_id);
 
     m_device = std::make_shared<dai::Device>(device_info);
-    std::cout << "Device connected: " << m_device->getMxId() << std::endl;
+    std::cout << "Device connected: " << m_device->getDeviceInfo().getDeviceId() << std::endl;
 
     auto sensors = m_device->getCameraSensorNames();
     std::cout << "Sensors found: " << sensors.size() << std::endl;
     for (const auto& [socket, name] : sensors)
         std::cout << "  Socket " << static_cast<int>(socket) << ": " << name << std::endl;
 
-    if (sensors.find(dai::CameraBoardSocket::CAM_A) == sensors.end())
-        throw std::runtime_error("Color sensor not found on CAM_A");
-    auto color_sensor_name = sensors.find(dai::CameraBoardSocket::CAM_A)->second;
-    auto color_resolution = color_sensor_name == "OV9782" ? dai::ColorCameraProperties::SensorResolution::THE_800_P :
-                                                            dai::ColorCameraProperties::SensorResolution::THE_1080_P;
-
-    static constexpr const char* kPreviewStreamName = "ColorPreview";
-
-    auto pipeline = create_pipeline(config, streams, color_resolution);
+    m_pipeline = create_pipeline(m_device, config, streams);
 
     if (config.preview)
-        m_preview = PreviewStream::create(kPreviewStreamName, pipeline, color_resolution);
-
-    m_device->startPipeline(pipeline);
+        m_preview = PreviewStream::create("ColorPreview", *m_pipeline);
 
-    for (const auto& s : streams)
-        m_queues[s.camera] = m_device->getOutputQueue(core::EnumNameStreamType(s.camera), 8, false);
-
-    if (m_preview)
-        m_preview->setOutputQueue(m_device->getOutputQueue(kPreviewStreamName, 4, false));
+    m_pipeline->start();
 
     std::cout << "OAK camera pipeline started" << std::endl;
 }
@@ -71,8 +57,7 @@ OakCamera::~OakCamera() = default;
 
 dai::DeviceInfo OakCamera::find_device(const std::string& device_id)
 {
-    auto devices = dai::Device::getAllAvailableDevices();
-
+    auto devices = dai::DeviceBootloader::getAllAvailableDevices();
     if (devices.empty())
         throw std::runtime_error("No OAK devices found. Check USB connection and udev rules.");
 
@@ -84,9 +69,9 @@ dai::DeviceInfo OakCamera::find_device(const std::string& device_id)
 
     for (const auto& device : devices)
     {
-        if (device.getMxId() == device_id)
+        if (device.getDeviceId() == device_id)
         {
-            std::cout << "Found device with ID: " << device.getMxId() << std::endl;
+            std::cout << "Found device with ID: " << device_id << std::endl;
             return device;
         }
     }
@@ -95,68 +80,58 @@ dai::DeviceInfo OakCamera::find_device(const std::string& device_id)
 }
 
 // =============================================================================
-// Pipeline construction
+// Pipeline construction (DepthAI v3.x)
 // =============================================================================
 
-dai::Pipeline OakCamera::create_pipeline(const OakConfig& config,
-                                         const std::vector<StreamConfig>& streams,
-                                         dai::ColorCameraProperties::SensorResolution color_resolution)
+std::unique_ptr<dai::Pipeline> OakCamera::create_pipeline(std::shared_ptr<dai::Device> device,
+                                                          const OakConfig& config,
+                                                          const std::vector<StreamConfig>& streams)
 {
-    dai::Pipeline pipeline;
+    auto pipeline = std::make_unique<dai::Pipeline>(device);
+
+    static constexpr std::pair<int, int> kRes1080p = { 1920, 1080 };
+    static constexpr std::pair<int, int> kRes800p = { 1280, 800 };
+    static constexpr std::pair<int, int> kRes400p = { 640, 400 };
 
     bool need_color = has_stream(streams, core::StreamType_Color);
     bool need_mono_left = has_stream(streams, core::StreamType_MonoLeft);
     bool need_mono_right = has_stream(streams, core::StreamType_MonoRight);
 
-    auto create_h264_output = [&](dai::Node::Output& source, const char* stream_name)
+    auto create_encoder = [&]() -> std::shared_ptr<dai::node::VideoEncoder>
     {
-        auto enc = pipeline.create<dai::node::VideoEncoder>();
-        enc->setDefaultProfilePreset(config.fps, dai::VideoEncoderProperties::Profile::H264_BASELINE);
+        auto enc = pipeline->create<dai::node::VideoEncoder>();
+        enc->setDefaultProfilePreset(static_cast<float>(config.fps), dai::VideoEncoderProperties::Profile::H264_BASELINE);
         enc->setBitrate(config.bitrate);
         enc->setQuality(config.quality);
         enc->setKeyframeFrequency(config.keyframe_frequency);
         enc->setNumBFrames(0);
         enc->setRateControlMode(dai::VideoEncoderProperties::RateControlMode::CBR);
+        return enc;
+    };
 
-        auto xout = pipeline.create<dai::node::XLinkOut>();
-        xout->setStreamName(stream_name);
-
-        source.link(enc->input);
-        enc->bitstream.link(xout->input);
+    auto add_stream = [&](dai::CameraBoardSocket socket, core::StreamType type, std::pair<int, int> resolution)
+    {
+        auto cam = pipeline->create<dai::node::Camera>();
+        cam->build(socket);
+        auto output = cam->requestOutput(resolution, dai::ImgFrame::Type::NV12);
+        auto enc = create_encoder();
+        output->link(enc->input);
+        m_queues[type] = enc->bitstream.createOutputQueue();
     };
 
     // ---- Color camera ----
     if (need_color)
     {
-        auto camRgb = pipeline.create<dai::node::ColorCamera>();
-        camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
-        camRgb->setResolution(color_resolution);
-        camRgb->setFps(config.fps);
-        camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
-
-        create_h264_output(camRgb->video, core::EnumNameStreamType(core::StreamType_Color));
+        auto color_sensor = device->getCameraSensorNames()[dai::CameraBoardSocket::CAM_A];
+        auto color_res = (color_sensor == "OV9782") ? kRes800p : kRes1080p;
+        add_stream(dai::CameraBoardSocket::CAM_A, core::StreamType_Color, color_res);
     }
 
     // ---- Mono cameras ----
     if (need_mono_left)
-    {
-        auto monoLeft = pipeline.create<dai::node::MonoCamera>();
-        monoLeft->setBoardSocket(dai::CameraBoardSocket::CAM_B);
-        monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-        monoLeft->setFps(config.fps);
-
-        create_h264_output(monoLeft->out, core::EnumNameStreamType(core::StreamType_MonoLeft));
-    }
-
+        add_stream(dai::CameraBoardSocket::CAM_B, core::StreamType_MonoLeft, kRes400p);
     if (need_mono_right)
-    {
-        auto monoRight = pipeline.create<dai::node::MonoCamera>();
-        monoRight->setBoardSocket(dai::CameraBoardSocket::CAM_C);
-        monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
-        monoRight->setFps(config.fps);
-
-        create_h264_output(monoRight->out, core::EnumNameStreamType(core::StreamType_MonoRight));
-    }
+        add_stream(dai::CameraBoardSocket::CAM_C, core::StreamType_MonoRight, kRes400p);
 
     return pipeline;
 }
diff --git a/src/plugins/oak/core/oak_camera.hpp b/src/plugins/oak/core/oak_camera.hpp
index 01f7f1aac..ae460acf4 100644
--- a/src/plugins/oak/core/oak_camera.hpp
+++ b/src/plugins/oak/core/oak_camera.hpp
@@ -7,9 +7,9 @@
 #include <schema/oak_generated.h>
 
 #include <cstdint>
+#include <map>
 #include <memory>
 #include <string>
-#include <unordered_map>
 #include <vector>
 
 namespace plugins
@@ -91,13 +91,14 @@ class OakCamera
     void print_stats() const;
 
 private:
-    dai::DeviceInfo find_device(const std::string& device_id);
-    dai::Pipeline create_pipeline(const OakConfig& config,
-                                  const std::vector<StreamConfig>& streams,
-                                  dai::ColorCameraProperties::SensorResolution color_resolution);
+    static dai::DeviceInfo find_device(const std::string& device_id);
+    std::unique_ptr<dai::Pipeline> create_pipeline(std::shared_ptr<dai::Device> device,
+                                                   const OakConfig& config,
+                                                   const std::vector<StreamConfig>& streams);
 
+    std::unique_ptr<dai::Pipeline> m_pipeline;
     std::shared_ptr<dai::Device> m_device;
-    std::map<core::StreamType, std::shared_ptr<dai::DataOutputQueue>> m_queues;
+    std::map<core::StreamType, std::shared_ptr<dai::MessageQueue>> m_queues;
 
     std::unique_ptr<FrameSink> m_sink;
     std::map<core::StreamType, uint64_t> m_frame_counts;
diff --git a/src/plugins/oak/core/preview_stream.cpp b/src/plugins/oak/core/preview_stream.cpp
index 50255ceff..b5afa9620 100644
--- a/src/plugins/oak/core/preview_stream.cpp
+++ b/src/plugins/oak/core/preview_stream.cpp
@@ -20,7 +20,7 @@ struct PreviewStream::Impl
     int tex_width = 0;
     int tex_height = 0;
 
-    std::shared_ptr<dai::DataOutputQueue> queue;
+    std::shared_ptr<dai::MessageQueue> queue;
 
     ~Impl()
     {
@@ -36,15 +36,13 @@ struct PreviewStream::Impl
 
 PreviewStream::~PreviewStream() = default;
 
-std::unique_ptr<PreviewStream> PreviewStream::create(const std::string& name,
-                                                     dai::Pipeline& pipeline,
-                                                     dai::ColorCameraProperties::SensorResolution resolution)
+std::unique_ptr<PreviewStream> PreviewStream::create(const std::string& name, dai::Pipeline& pipeline)
 {
-    // Find existing ColorCamera on CAM_A, or create one
-    std::shared_ptr<dai::node::ColorCamera> camRgb;
+    // Find existing Camera on CAM_A, or create one
+    std::shared_ptr<dai::node::Camera> camRgb;
     for (auto& node : pipeline.getAllNodes())
     {
-        auto cam = std::dynamic_pointer_cast<dai::node::ColorCamera>(node);
+        auto cam = std::dynamic_pointer_cast<dai::node::Camera>(node);
         if (cam && cam->getBoardSocket() == dai::CameraBoardSocket::CAM_A)
         {
             camRgb = cam;
@@ -54,22 +52,13 @@ std::unique_ptr<PreviewStream> PreviewStream::create(const std::string& name,
 
     if (!camRgb)
     {
-        std::cout << "Creating new ColorCamera on CAM_A" << std::endl;
-        camRgb = pipeline.create<dai::node::ColorCamera>();
-        camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
-        camRgb->setResolution(resolution);
-        camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
+        camRgb = pipeline.create<dai::node::Camera>();
+        camRgb->build(dai::CameraBoardSocket::CAM_A);
     }
 
-    int preview_w = 640;
-    int preview_h = (resolution == dai::ColorCameraProperties::SensorResolution::THE_800_P) ? 400 : 360;
-
-    camRgb->setPreviewSize(preview_w, preview_h);
-    camRgb->setInterleaved(true);
-
-    auto xout = pipeline.create<dai::node::XLinkOut>();
-    xout->setStreamName(name);
-    camRgb->preview.link(xout->input);
+    constexpr int preview_w = 640;
+    constexpr int preview_h = 400;
+    auto previewOutput = camRgb->requestOutput(std::make_pair(preview_w, preview_h), dai::ImgFrame::Type::BGR888i);
 
     if (SDL_Init(SDL_INIT_VIDEO) != 0)
         throw std::runtime_error(std::string("Preview: SDL_Init failed: ") + SDL_GetError());
@@ -89,6 +78,8 @@ std::unique_ptr<PreviewStream> PreviewStream::create(const std::string& name,
     if (!impl->renderer)
         throw std::runtime_error(std::string("Preview: SDL_CreateRenderer failed: ") + SDL_GetError());
 
+    impl->queue = previewOutput->createOutputQueue();
+
     auto stream = std::unique_ptr<PreviewStream>(new PreviewStream());
     stream->m_impl = std::move(impl);
 
@@ -96,15 +87,10 @@ std::unique_ptr<PreviewStream> PreviewStream::create(const std::string& name,
     return stream;
 }
 
-void PreviewStream::setOutputQueue(std::shared_ptr<dai::DataOutputQueue> queue)
-{
-    m_impl->queue = std::move(queue);
-}
-
 void PreviewStream::update()
 {
     if (!m_impl->queue)
-        throw std::runtime_error("Preview: Output queue not set");
+        return;
 
     auto frame = m_impl->queue->tryGet<dai::ImgFrame>();
     if (!frame)
diff --git a/src/plugins/oak/core/preview_stream.hpp b/src/plugins/oak/core/preview_stream.hpp
index f40c3fa4e..13282bfbd 100644
--- a/src/plugins/oak/core/preview_stream.hpp
+++ b/src/plugins/oak/core/preview_stream.hpp
@@ -16,8 +16,8 @@ namespace oak
 /**
  * @brief Self-contained color preview stream.
  *
- * Owns the full lifecycle: adds preview nodes to the pipeline, opens an SDL2
- * window, connects to the device output queue, and polls/displays frames.
+ * Owns the full lifecycle: requests a preview output from an existing Camera
+ * node on CAM_A, opens an SDL2 window, and polls/displays frames.
  */
 class PreviewStream
 {
@@ -28,19 +28,16 @@ class PreviewStream
     PreviewStream& operator=(const PreviewStream&) = delete;
 
     /**
-     * @brief Wire preview nodes into an existing pipeline and create the window.
+     * @brief Wire a preview output into an existing pipeline and create the window.
      *
-     * Searches the pipeline for an existing ColorCamera on CAM_A. If none is
-     * found, creates and configures one. Then attaches preview output nodes.
+     * Searches the pipeline for an existing Camera node on CAM_A. If none is
+     * found, creates and builds one. Requests a small BGR output for preview
+     * and creates the output queue internally.
      *
-     * @throws std::runtime_error if SDL initialisation or window creation fails.
+     * @throws std::runtime_error if no CAM_A node exists and creation fails,
+     *         or if SDL initialisation / window creation fails.
      */
-    static std::unique_ptr<PreviewStream> create(const std::string& name,
-                                                 dai::Pipeline& pipeline,
-                                                 dai::ColorCameraProperties::SensorResolution resolution);
-
-    /** @brief Set the output queue to poll frames from. Call after Device::startPipeline. */
-    void setOutputQueue(std::shared_ptr<dai::DataOutputQueue> queue);
+    static std::unique_ptr<PreviewStream> create(const std::string& name, dai::Pipeline& pipeline);
 
     /** @brief Poll the queue and display a frame if available. */
     void update();
diff --git a/vcpkg.json b/vcpkg.json
new file mode 100644
index 000000000..c6fee431d
--- /dev/null
+++ b/vcpkg.json
@@ -0,0 +1,28 @@
+{
+    "name": "isaac-teleop",
+    "version": "1.0.0",
+    "description": "IsaacTeleop with OAK camera support via DepthAI",
+    "dependencies": [
+        "nlohmann-json",
+        "spdlog",
+        "zlib",
+        "bzip2",
+        "lz4",
+        "liblzma",
+        "eigen3",
+        "yaml-cpp",
+        "fmt",
+        "magic-enum",
+        "neargye-semver",
+        "fp16",
+        "libusb",
+        "openssl",
+        "libarchive",
+        {
+            "name": "cpp-httplib",
+            "default-features": false,
+            "features": ["brotli"]
+        }
+    ],
+    "builtin-baseline": "a9eee3b18df395dbb8be71a31bd78ea441056e42"
+}