• n10_draw_threaded.py -> receives data from N10 and does the conversion to cartesian coordinates
• n10_draw_threaded_server.py -> same as n10_draw_threaded but the points are hosted with flask
• bno085.py -> hosts orientation information of the robot so that the lidar pointcloud can be always kept in the same orientation (optional)
• visualize.py -> uses the n10_draw_threaded_server to retrieve points and draw them on a remote computer
• cameraStream.py -> a simple camera stream for RP5

Example of how visualize.py looks