I don't want my husband's grandmother to come to the hospital

Me and my husband have been having some issues with his grandma(mimi) and her new boyfriend. Last year when I had my daughter she knew we didn't want people there for the 1st night because we wanted to spend the first few hours bonding with her ourselves before calling everyone. Well she showed up anyway, and brought her friend and they both tried to kiss on the baby and she got upset with us when we tried to tell her to stop, in which she responded with "she's my grandchild i can kiss her if i want."

Now she has a bf who i personally really hate. He had said some stuff thats been kinda racist and insensitive towards me and my daughter. He's very pushy tries to "help" where he's not wanted and take charge and be in control wherever he is. He seems to not care about boundaries and has tried to correct me and my husband on stuff we do with our daughter, like how we do her nap time and other things like that. Just because he has a grand daughter who's schedule is different and he thinks we should do things more like that. If my husband asks me if I want something while we're out and i say I'm fine or if I say i don't like something he'll try to butt in and say that I really mean I do or that or something just the complete opposite of what I said. We've been trying to bite our tongues and deal with it because we know he treats my husband's grandmother well and has done a lot for her. But I can't stand being around him. I even found out that he's been taking pictures of my daughter without mine or my husband's permission at social gatherings with the family. But mimi said it was okay so no one bothered to ask us how we felt. I feel like they don't respect us as parents and everytime we try to talk to mimi about it she just gets offended and goes tells my husband's dad who calls us telling us to basically lighten up and be more understanding. I don't want them around when I have this baby but I don't know how I can go about keeping them away. I don't want to be the bad guy but I've had to walk out and leave family events because i couldn't take it anymore. And I dont think they'll allow me to walk out of the hospital after giving birth if they show up.. Any advice on what I can do so i don't lose my mind on someone?