Re: [morty/krogoth][PATCH 1/4] voxelsdk: add version 0.6.8

["Senicic, Djordje" <d-senicic1@ti.com>]

Based on below responses, regarding voxelsdk, it is not likely Python2.7 support will be abandoned soon.
I would (in general) consent with observation that python2.7 vs 3.5+ dichotomy is not going to end in near future.
===
From: Gadiyar, Anand 
Sent: Wednesday, March 29, 2017 5:11 AM
To: Li, Larry; Senicic, Djordje
Subject: RE: TOF python 3.5+ support

No plans for Python 3 support at this time.

Not much is needed to enable Python 3 I think as SWIG should be able to take care of it out of the box. However we do not have any active development on the SDK, so we will not be testing.
If someone puts together a patch to enable Python 3 support, we will be happy to take it.


We require Python 2.7 to work mainly because our other development tools and VoxelViewer are still using Python 2.7.
===
From: Li, Larry 
Sent: Wednesday, March 29, 2017 4:55 AM
To: Senicic, Djordje
Cc: Gadiyar, Anand
Subject: Re: TOF python 3.5+ support

Python 3 cannot run Python 2.7 scripts in many cases. Is the industry as a whole ready to move to Python 3 only?  What is the Python support plan for most major Linux distros?  If they continue to support both people won't migrate their existing app.  Python 2.7 is still the default in most distros. 

Larry
-----Original Message-----
From: Dmytriyenko, Denys 
Sent: Tuesday, March 28, 2017 6:57 PM
To: Senicic, Djordje
Cc: Gou, Hongmei; meta-arago@arago-project.org
Subject: Re: [meta-arago] [morty/krogoth][PATCH 1/4] voxelsdk: add version 0.6.8

On Tue, Mar 21, 2017 at 11:32:50AM -0400, Senicic, Djordje wrote:
> AFAIK, there is no immediate plan to support Python 3+.
> Initiative for that may come from Larry Li (TOF SW Arch). I'll check w/ him.
> Not feasible for PLSDK3.3, but 2Q (if he agrees) that is likely.

Thanks! That would be helpful. Currently we have to package both python2.7 and
python3 in the rootfs, because different components use different versions. 
Would be nice to align everything on one version to save space. Please keep me posted on this activity, thanks.

--
Denys


> -----Original Message-----
> From: Gou, Hongmei 
> Sent: Tuesday, March 21, 2017 11:11 AM
> To: Dmytriyenko, Denys; Senicic, Djordje
> Cc: meta-arago@arago-project.org
> Subject: RE: [meta-arago] [morty/krogoth][PATCH 1/4] voxelsdk: add version 0.6.8
> 
> v2 patch is submitted.
> 
> Djordje, can you please comment on the plan to use python3 instead of 2.7?
> 
> Thanks,
> Hongmei
> 
> > -----Original Message-----
> > From: Dmytriyenko, Denys
> > Sent: Monday, March 20, 2017 2:15 PM
> > To: Gou, Hongmei
> > Cc: meta-arago@arago-project.org; Senicic, Djordje
> > Subject: Re: [meta-arago] [morty/krogoth][PATCH 1/4] voxelsdk: add 
> > version
> > 0.6.8
> > 
> > On Fri, Mar 17, 2017 at 03:37:51PM -0400, Hongmei Gou wrote:
> > > Signed-off-by: Djordje Senicic <d-senicic1@ti.com>
> > > Signed-off-by: Hongmei Gou <h-gou@ti.com>
> > > ---
> > >  .../voxelsdk/0001-PLSDK-AM437x-update.patch        |  73 +++++
> > >  .../voxelsdk/voxelsdk/0002-Fix-SWIG-support.patch  |  37 +++ 
> > > ...mmand-line-options-and-move-OpenCV-render.patch | 324
> > +++++++++++++++++++++
> > >  .../recipes-apps/voxelsdk/voxelsdk_git.bb          |  51 ++++
> > >  4 files changed, 485 insertions(+)
> > >  create mode 100644
> > > meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0001-PLSDK-AM437x-
> > upd
> > > ate.patch  create mode 100644
> > > meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0002-Fix-SWIG-
> > support
> > > .patch  create mode 100644
> > > meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0003-Add-more-
> > command
> > > -line-options-and-move-OpenCV-render.patch
> > >  create mode 100644
> > > meta-arago-extras/recipes-apps/voxelsdk/voxelsdk_git.bb
> > >
> > > diff --git
> > > a/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0001-PLSDK-
> > AM437x-u
> > > pdate.patch
> > > b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0001-PLSDK-
> > AM437x-u
> > > pdate.patch
> > > new file mode 100644
> > > index 0000000..2e1e740
> > > --- /dev/null
> > > +++ b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0001-PLSDK-
> > AM43
> > > +++ 7x-update.patch
> > > @@ -0,0 +1,73 @@
> > > +From 9ef95f0defcd7215b3d514e7fb7321cd299882cd Mon Sep 17 00:00:00
> > > +2001
> > > +From: Djordje Senicic <d-senicic1@ti.com>
> > > +Date: Wed, 22 Feb 2017 12:21:07 -0500
> > > +Subject: [PATCH] PLSDK AM437x update
> > > +
> > > +Signed-off-by: Djordje Senicic <d-senicic1@ti.com>
> > > +---
> > > + CMakeLists.txt                  | 11 ++++++++++-
> > > + Voxel/CMakeLists.txt            |  2 +-
> > > + Voxel/SWIG/standard_container.i |  5 +++--
> > > + 3 files changed, 14 insertions(+), 4 deletions(-)
> > > +
> > > +diff --git a/CMakeLists.txt b/CMakeLists.txt index ed7a015..a187c96
> > > +100644
> > > +--- a/CMakeLists.txt
> > > ++++ b/CMakeLists.txt
> > > +@@ -26,9 +26,18 @@ if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
> > > +   SET(ARM_PLATFORM 1)
> > > +
> > > +   if(ARM_PLATFORM)
> > > +-    add_definitions(-mtune=arm7 -mfpu=neon-vfpv4 -mfloat-abi=hard -
> > pthread -std=c++11 -fPIC -ffast-math)
> > > ++#    add_definitions(-mtune=arm7 -mfpu=neon-vfpv4 -mfloat-abi=hard -
> > pthread -std=c++11 -fPIC -ffast-math)
> > > +     #-DARM_OPT to enable arm optimizaions
> > > +     ADD_DEFINITIONS(-DARM_OPT)
> > > ++#OK:
> > > ++#add_definitions(-mtune=arm7 -mfloat-abi=hard -pthread -std=c++11 
> > > ++-fPIC -ffast-math)
> > > ++#OK:
> > > ++#add_definitions(-ffast-math -mcpu=cortex-a9 -mfloat-abi=hard
> > > ++-mfpu=neon-fp16 -fPIC -pthread -std=c++11)
> > > ++#OK:
> > > ++#add_definitions(-ffast-math -mcpu=cortex-a9 -mfloat-abi=hard 
> > > ++-mfpu=neon -fPIC -pthread -std=c++11)
> > > ++
> > > ++add_definitions(-mtune=arm7 -mfpu=neon -mfloat-abi=hard -pthread
> > > ++-std=c++11 -fPIC -ffast-math)
> > > ++
> > > +     ADD_DEFINITIONS(-DCOMMON_OPT)
> > > +
> > > +   else()
> > > +diff --git a/Voxel/CMakeLists.txt b/Voxel/CMakeLists.txt index
> > > +ae98e81..74528d8 100644
> > > +--- a/Voxel/CMakeLists.txt
> > > ++++ b/Voxel/CMakeLists.txt
> > > +@@ -149,7 +149,7 @@ install(FILES
> > > +   COMPONENT voxel_dev
> > > + )
> > > +
> > > +-#add_subdirectory(SWIG)
> > > ++add_subdirectory(SWIG)
> > > +
> > > + IF(LINUX)
> > > +   set(CPACK_COMPONENTS_ALL voxel)
> > > +diff --git a/Voxel/SWIG/standard_container.i 
> > > +b/Voxel/SWIG/standard_container.i index f61e342..1d2cb66 100644
> > > +--- a/Voxel/SWIG/standard_container.i
> > > ++++ b/Voxel/SWIG/standard_container.i
> > > +@@ -113,7 +113,7 @@
> > > +
> > > + %enddef
> > > +
> > > +-
> > > ++#if SWIG_VERSION < 0x030008
> > > + //
> > > + // Ignore member methods for Type with no default constructor  // 
> > > +@@
> > > +-124,4 +124,5 @@
> > > + %feature("ignore") std::deque<Type >::resize(size_type size);
> > > + %feature("ignore") std::list<Type >::list(size_type size);
> > > + %feature("ignore") std::list<Type >::resize(size_type size); 
> > > +-%enddef \ No newline at end of file
> > > ++%enddef
> > > ++#endif
> > > +--
> > > +1.9.1
> > > +
> > > diff --git
> > > a/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0002-Fix-SWIG-
> > suppo
> > > rt.patch
> > > b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0002-Fix-SWIG-
> > suppo
> > > rt.patch
> > > new file mode 100644
> > > index 0000000..77a6de1
> > > --- /dev/null
> > > +++ b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0002-Fix-SWIG
> > > +++ -
> > s
> > > +++ upport.patch
> > > @@ -0,0 +1,37 @@
> > > +From a800f446d9c976f6fb11f4d601cc386bbdce59e1 Mon Sep 17 00:00:00
> > > +2001
> > > +From: Djordje Senicic <d-senicic1@ti.com>
> > > +Date: Wed, 22 Feb 2017 14:14:52 -0500
> > > +Subject: [PATCH] Fix SWIG support
> > > +
> > > +Signed-off-by: Djordje Senicic <d-senicic1@ti.com>
> > > +---
> > > + Voxel/SWIG/CMakeLists.txt | 5 +++--
> > > + 1 file changed, 3 insertions(+), 2 deletions(-)
> > > +
> > > +diff --git a/Voxel/SWIG/CMakeLists.txt b/Voxel/SWIG/CMakeLists.txt 
> > > +index a4f6d53..f4070ac 100644
> > > +--- a/Voxel/SWIG/CMakeLists.txt
> > > ++++ b/Voxel/SWIG/CMakeLists.txt
> > > +@@ -1,10 +1,11 @@
> > > +-SET(GENERATE_PYTHON_BINDINGS "FALSE" CACHE BOOL "Controls
> > generation
> > > +of Python bindings")
> > > ++SET(GENERATE_PYTHON_BINDINGS "TRUE" CACHE BOOL "Controls
> > generation
> > > ++of Python bindings")
> > > +
> > > + IF(${GENERATE_PYTHON_BINDINGS})
> > > +
> > > + FIND_PACKAGE(SWIG REQUIRED)
> > > + INCLUDE(${SWIG_USE_FILE})
> > > +
> > > ++SET(Python_ADDITIONAL_VERSIONS 2.7)
> > > + FIND_PACKAGE(PythonLibs)
> > > + INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
> > > +
> > > +@@ -46,4 +47,4 @@ install(FILES
> > > +   DESTINATION lib/python2.7
> > > +   COMPONENT voxel_python
> > > + )
> > > +-ENDIF()
> > > +\ No newline at end of file
> > > ++ENDIF()
> > > +--
> > > +1.9.1
> > > +
> > > diff --git
> > > a/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0003-Add-more-
> > comma
> > > nd-line-options-and-move-OpenCV-render.patch
> > > b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0003-Add-more-
> > comma
> > > nd-line-options-and-move-OpenCV-render.patch
> > > new file mode 100644
> > > index 0000000..4ab74e6
> > > --- /dev/null
> > > +++ b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0003-Add-
> > more-c
> > > +++ ommand-line-options-and-move-OpenCV-render.patch
> > > @@ -0,0 +1,324 @@
> > > +From 29cc2430579eb257d9e1ac1caf0b4515278fd375 Mon Sep 17 00:00:00
> > > +2001
> > > +From: Djordje Senicic <d-senicic1@ti.com>
> > > +Date: Mon, 13 Mar 2017 19:51:30 -0400
> > > +Subject: [PATCH] Add more command line options and move OpenCV 
> > > +rendering to  main thread
> > > +
> > > +Signed-off-by: Djordje Senicic <d-senicic1@ti.com>
> > > +---
> > > + Demos/Horus.cpp                | 98 +++++++++++++++++++++++++------------
> > -----
> > > + Demos/SimplePeopleTracking.cpp | 91
> > ++++++++++++++++++++++++++++++++-------
> > > + Demos/TOFApp.cpp               | 14 +++---
> > > + 3 files changed, 139 insertions(+), 64 deletions(-)
> > > +
> > > +diff --git a/Demos/Horus.cpp b/Demos/Horus.cpp index
> > e0181af..de1837e
> > > +100644
> > > +--- a/Demos/Horus.cpp
> > > ++++ b/Demos/Horus.cpp
> > > +@@ -24,6 +24,12 @@
> > > + #include <stdlib.h>
> > > +
> > > + extern int skipped_frames;
> > > ++extern pthread_mutex_t main_thread_image_mtx; extern Mat 
> > > ++app_image[]; extern int main_thread_image_rd; extern int 
> > > ++main_thread_image_wr; extern int main_thread_image_cnt; extern
> > char
> > > ++show_image;
> > > +
> > > + Horus::Horus(int w, int h) : TOFApp(w, h)  { @@ -126,10 +132,9 @@ 
> > > +bool Horus::isPerson(vector<cv::Point> &contour, Mat dMat)
> > > +    return rc;
> > > + }
> > > +
> > > +-static int draw_throttle = 0;
> > > +-
> > > + void Horus::update(Frame *frame)
> > > + {
> > > ++   Mat drawing;
> > > +    vector< vector<cv::Point> > contours;
> > > +    vector<Vec4i> hierarchy;
> > > +    RNG rng(12345);
> > > +@@ -147,51 +152,66 @@ void Horus::update(Frame *frame)
> > > +
> > > +       // Apply amplitude gain
> > > +       _iMat = (float)_ampGain*_iMat;
> > > ++      if(show_image == 'p')
> > > ++      { //Skip below processing if we are not detecting people!
> > > ++        // Update background as required
> > > ++        if (!_setBackground) {
> > > ++           _dMat.copyTo(_bkgndMat);
> > > ++           _setBackground = true;
> > > ++           cout << endl << "Updated background" << endl;
> > > ++        }
> > > +
> > > +-      // Update background as required
> > > +-      if (!_setBackground) {
> > > +-         _dMat.copyTo(_bkgndMat);
> > > +-         _setBackground = true;
> > > +-         cout << endl << "Updated background" << endl;
> > > +-      }
> > > +-
> > > +-      // Find foreground by subtraction
> > > +-      Mat fMat = _bkgndMat-_dMat;
> > > ++        // Find foreground by subtraction
> > > ++        Mat fMat = _bkgndMat-_dMat;
> > > +
> > > +-      // Convert to binary image based on amplitude and depth thresholds
> > > +-      clipBackground(fMat, _iMat, (float)_depthThresh/100.0,
> > (float)_ampThresh/100.0);
> > > +-      fMat.convertTo(_bMat, CV_8U, 255.0);
> > > ++        // Convert to binary image based on amplitude and depth thresholds
> > > ++        clipBackground(fMat, _iMat, (float)_depthThresh/100.0,
> > (float)_ampThresh/100.0);
> > > ++        fMat.convertTo(_bMat, CV_8U, 255.0);
> > > +
> > > +-      // Apply morphological open to clean up image
> > > +-      Mat morphMat = _bMat.clone();
> > > +-      Mat element = getStructuringElement( 0, Size(3,3), cv::Point(1,1) );
> > > +-      morphologyEx(_bMat, morphMat, 2, element);
> > > ++        // Apply morphological open to clean up image
> > > ++        Mat morphMat = _bMat.clone();
> > > ++        Mat element = getStructuringElement( 0, Size(3,3), cv::Point(1,1) );
> > > ++        morphologyEx(_bMat, morphMat, 2, element);
> > > +
> > > +-      // Find all contours
> > > +-      findContours(morphMat, contours, hierarchy, CV_RETR_TREE,
> > > +-                             CV_CHAIN_APPROX_SIMPLE, cv::Point(0,0));
> > > ++        // Find all contours
> > > ++        findContours(morphMat, contours, hierarchy, CV_RETR_TREE,
> > > ++                               CV_CHAIN_APPROX_SIMPLE, 
> > > ++ cv::Point(0,0));
> > > +
> > > +-      // Draw contours that meet a "person" requirement
> > > +-      Mat drawing = Mat::zeros(_iMat.size(), CV_8UC3);
> > > +-      cvtColor(_iMat, drawing, CV_GRAY2RGB);
> > > ++        // Draw contours that meet a "person" requirement
> > > ++        drawing = Mat::zeros(_iMat.size(), CV_8UC3);
> > > ++        cvtColor(_iMat, drawing, CV_GRAY2RGB);
> > > +
> > > +-      int peopleCount = 0;
> > > +-      for ( int i = 0; i < contours.size(); i++ ) {
> > > +-         if (isPerson(contours[i], _dMat)) {
> > > +-            peopleCount++;
> > > +-            drawContours( drawing, contours, i, Scalar(0, 0, 255), 2, 8,
> > vector<Vec4i>(), 0, cv::Point() );
> > > +-         }
> > > ++        int peopleCount = 0;
> > > ++        for ( int i = 0; i < contours.size(); i++ ) {
> > > ++           if (isPerson(contours[i], _dMat)) {
> > > ++              peopleCount++;
> > > ++              drawContours( drawing, contours, i, Scalar(0, 0, 
> > > ++ 255), 2, 8,
> > vector<Vec4i>(), 0, cv::Point() );
> > > ++           }
> > > ++        }
> > > ++        putText(drawing, "Cnt="+to_string(peopleCount), 
> > > ++ cv::Point(40, 30), FONT_HERSHEY_PLAIN, 1, Scalar(255, 0, 0));
> > > +       }
> > > +-      putText(drawing, "Cnt="+to_string(peopleCount), cv::Point(40, 30),
> > FONT_HERSHEY_PLAIN, 1, Scalar(255, 0, 0));
> > > +-      if(skipped_frames == 0) {
> > > +-        imshow("Draw", drawing);
> > > +-      } else {
> > > +-        if((draw_throttle % skipped_frames) == 0) {
> > > +-          char file_name[80];
> > > +-          sprintf (file_name, "draw%03d.png", draw_throttle /
> > skipped_frames);
> > > +-          imwrite (file_name, drawing);
> > > ++
> > > ++      if(main_thread_image_cnt < 2)
> > > ++      {
> > > ++        switch (show_image)
> > > ++        {
> > > ++          case 'i':
> > > ++            _iMat.copyTo(app_image[main_thread_image_wr]);
> > > ++            putText(app_image[main_thread_image_wr], "Ampl Map",
> > cv::Point(30, 20), FONT_HERSHEY_PLAIN, 1, Scalar(255, 0, 0));
> > > ++            break;
> > > ++          case 'd':
> > > ++            _dMat.copyTo(app_image[main_thread_image_wr]);
> > > ++            putText(app_image[main_thread_image_wr], "Dist Map",
> > cv::Point(30, 20), FONT_HERSHEY_PLAIN, 1, Scalar(255, 0, 0));
> > > ++            break;
> > > ++          default:
> > > ++            drawing.copyTo(app_image[main_thread_image_wr]);
> > > ++            break;
> > > +         }
> > > +-        draw_throttle ++;
> > > ++        pthread_mutex_lock(&main_thread_image_mtx);
> > > ++          main_thread_image_wr ++;
> > > ++          main_thread_image_wr %= 2;
> > > ++          main_thread_image_cnt ++;
> > > ++        pthread_mutex_unlock(&main_thread_image_mtx);
> > > +       }
> > > +    }
> > > + }
> > > +diff --git a/Demos/SimplePeopleTracking.cpp 
> > > +b/Demos/SimplePeopleTracking.cpp index 8c6e9d4..1eb8e16 100644
> > > +--- a/Demos/SimplePeopleTracking.cpp
> > > ++++ b/Demos/SimplePeopleTracking.cpp
> > > +@@ -1,6 +1,18 @@
> > > + #include "Horus.h"
> > > ++#include <getopt.h>
> > > +
> > > + int skipped_frames = 0;
> > > ++int resolution_width = 160, resolution_height = 120; //Variables 
> > > ++for communication between main and application thread 
> > > ++pthread_mutex_t main_thread_image_mtx; int main_thread_image_rd = 
> > > ++0; int main_thread_image_wr = 0; int main_thread_image_cnt = 0; 
> > > ++int acq_fps = 30; char show_image = 'p'; //By default, detect 
> > > ++people int fps = 30;
> > > ++
> > > ++Mat app_image[2];
> > > +
> > > + int getkey() {
> > > +     int character;
> > > +@@ -27,29 +39,58 @@ int getkey() {
> > > +
> > > + #define TOF_FRAME_TYPE
> > 	DepthCamera::FRAME_XYZI_POINT_CLOUD_FRAME
> > > +
> > > ++void print_usage(void)
> > > ++{
> > > ++  printf ("\nFollwoing command line options available:");
> > > ++  printf ("\n  -s <decimal value>");
> > > ++  printf ("\n   If you want to run demo without keyboard, provide
> > 'skipped_frames' as argument (e.g. SimplePeopleTracking -s 30)!");
> > > ++  printf ("\n   Images with the result of processing are saved in PNG files.
> > This test always stops after 10 image files recorded\n");
> > > ++  printf ("\n -w <resolution witdh,  default is 160, another 
> > > ++resolution possible is 320x240>");
> > > ++  printf ("\n -h <resolution height, default is 120, another 
> > > ++respolution possible is 320x240>");
> > > ++  printf ("\n -i <present image of amplitudes, grey-scale like 
> > > ++image
> > > ++- default is detection of people>");
> > > ++  printf ("\n -d <present distance map - default is detection of
> > > ++people>");
> > > ++  printf ("\n -f <set fps with integer value, 30 is default, 10, 
> > > ++15,
> > > ++25 are another options to try>");
> > > ++  printf ("\n-----------\n");
> > > ++}
> > > ++
> > > + int main(int argc, char *argv[])
> > > + {
> > > +-int ii = 0;
> > > +-   int key;
> > > ++   int ii = 0, draw_throttle = 0;
> > > ++   int key, c_opt;
> > > +    bool done = false;
> > > +-   Mat bImg;
> > > +-
> > > +-   if(argc > 1) skipped_frames = atoi(argv[1]);
> > > +-   else {
> > > +-     printf ("\nIf you want to run demo without keyboard, provide
> > 'skipped_frames' as argument (e.g. SimplePeopleTracking 30)!");
> > > +-     printf ("\nImages with the result of processing are saved in PNG files.
> > This test always stops after 15 seconds\n");
> > > ++   Mat bImg, locImg;
> > > ++
> > > ++   while ((c_opt = getopt(argc, argv,"s:w:h:f:id")) != -1) {
> > > ++        switch (c_opt) {
> > > ++             case 's' : skipped_frames = atoi(optarg);
> > > ++                 break;
> > > ++             case 'w' : resolution_width = atoi(optarg);
> > > ++                 break;
> > > ++             case 'h' : resolution_height = atoi(optarg);
> > > ++                 break;
> > > ++             case 'f' : acq_fps = atoi(optarg);
> > > ++                 break;
> > > ++             case 'i' : show_image = 'i';
> > > ++                 break;
> > > ++             case 'd' : show_image = 'd';
> > > ++                 break;
> > > ++             default: print_usage();
> > > ++                 exit(EXIT_FAILURE);
> > > ++        }
> > > +    }
> > > ++   printf ("\nUsing following parameters: skipped_frames=%d 
> > > ++ width=%d
> > height=%d mode=%c fps=%d. Use '-?' to get help.\n",
> > > ++           skipped_frames, resolution_width, resolution_height, 
> > > ++ show_image, acq_fps);
> > > +
> > > +-   //Horus eye(320, 240);
> > > +-   Horus eye(160, 120);
> > > +-   //Horus eye(80, 60);
> > > ++   Horus eye(resolution_width, resolution_height);
> > > +
> > > +    if (!eye.connect(TOF_FRAME_TYPE)) {
> > > +       cout << "Cannot connect" << endl;
> > > +       return -1;
> > > +    }
> > > +    eye.start();
> > > +-   while (!done) {
> > > ++
> > > ++   while (!done)
> > > ++   {
> > > +      if(skipped_frames == 0)
> > > +      {
> > > +        char key = getkey();
> > > +@@ -57,11 +98,29 @@ int ii = 0;
> > > +           done = true;
> > > +        else if (key == 'b')
> > > +           eye.resetBackground();
> > > +-     } else {
> > > +-       usleep(100000);
> > > +-       ii ++;
> > > +-       if(ii == 150) done = true;
> > > +      }
> > > ++     //Exchange data with the applicaiton thread
> > > ++     if(main_thread_image_cnt > 0)
> > > ++     { //imshow() does not work reliable if being ran from non-main thread
> > > ++       locImg = app_image[main_thread_image_rd];
> > > ++       if(skipped_frames)
> > > ++       {
> > > ++         if((draw_throttle % skipped_frames) == 0) {
> > > ++           char file_name[80];
> > > ++           sprintf (file_name, "draw%03d.png", draw_throttle /
> > skipped_frames);
> > > ++           imwrite (file_name, locImg);
> > > ++           std::cout << "Write file:" << file_name << std::endl << std::flush;
> > > ++         }
> > > ++         draw_throttle ++;
> > > ++         if(draw_throttle >= (10 * skipped_frames)) done = true; 
> > > ++ //Collect 10
> > image files only in batch mode
> > > ++       } else imshow ("Draw", locImg);
> > > ++       pthread_mutex_lock(&main_thread_image_mtx);
> > > ++         main_thread_image_rd ++;
> > > ++         main_thread_image_rd %= 2;
> > > ++         main_thread_image_cnt --;
> > > ++       pthread_mutex_unlock(&main_thread_image_mtx);
> > > ++     }
> > > ++     waitKey(20);
> > > +    }
> > > +
> > > + err_exit:
> > > +diff --git a/Demos/TOFApp.cpp b/Demos/TOFApp.cpp index
> > > +1c9c0cd..cb41286 100644
> > > +--- a/Demos/TOFApp.cpp
> > > ++++ b/Demos/TOFApp.cpp
> > > +@@ -22,7 +22,7 @@
> > > + #define FRAME_QUEUE_SZ		3
> > > +
> > > + extern int skipped_frames;
> > > +-
> > > ++extern int acq_fps;
> > > + // Frame callback
> > > + static deque<Voxel::Frame *> qFrame;  static pthread_mutex_t gmtx; 
> > > +@@ -166,11 +166,7 @@ void *TOFApp::eventLoop(void *p)
> > > +       }
> > > +
> > > +       done = !app->_isRunning;
> > > +-      if(skipped_frames == 0) {
> > > +-        waitKey(app->_loopDelay);
> > > +-      } else {
> > > +-        usleep(10000);
> > > +-      }
> > > ++      usleep(10000);
> > > +    }
> > > +
> > > +    app->disconnect();
> > > +@@ -196,9 +192,9 @@ void TOFApp::Init(int w, int h)
> > > +    _isConnected = false;
> > > +    _dimen.width = w;
> > > +    _dimen.height = h;
> > > +-   _frate.numerator = 30;
> > > ++   _frate.numerator = acq_fps; //30
> > > +    _frate.denominator = 1;
> > > +-   _loopDelay = 66;
> > > ++   _loopDelay = (int)(1000 / acq_fps);
> > > +    _illum_power = 60;
> > > +    _intg = 20;
> > > +    _profile = "MetrilusLongRange"; @@ -219,7 +215,7 @@ bool 
> > > +TOFApp::connect(DepthCamera::FrameType
> > frmType)
> > > +    else
> > > +       return false;
> > > +
> > > +-   #if 0   //Enable this to list all the profiles that are supported by the
> > camera
> > > ++   #if 1   //Enable this to list all the profiles that are supported by the
> > camera
> > > +    cout << "List of Profiles:" << endl;
> > > +    auto &names = _depthCamera->configFile.getCameraProfileNames();
> > > +
> > > +--
> > > +1.9.1
> > > +
> > > diff --git a/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk_git.bb
> > > b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk_git.bb
> > > new file mode 100644
> > > index 0000000..0189ce0
> > > --- /dev/null
> > > +++ b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk_git.bb
> > > @@ -0,0 +1,51 @@
> > > +DESCRIPTION = "VOXELSDK and 3D scanning application"
> > 
> > For short descriptions, please use SUMMARY instead
> > 
> > 
> > > +HOMEPAGE = "https://github.com/3dtof/voxelsdk"
> > > +SECTION = "multimedia"
> > > +LICENSE = "BSD-3-Clause"
> > > +LIC_FILES_CHKSUM =
> > "file://LICENSE;md5=e69c599445026ffeae140a21181dfa88"
> > > +
> > > +PV = "0.6.8"
> > > +PR = "r1"
> > > +BRANCH="plsdk-devel"
> > 
> > Not critical, but since there will be v2, please use consistent 
> > formatting with spaces around = sign.
> > 
> > 
> > > +SRC_URI = "git://github.com/3dtof/voxelsdk.git;branch=${BRANCH}"
> > > +SRCREV  = "7337ac265a1542f22ccffe592762c226b23b2dbd"
> > > +
> > > +SRC_URI += " \
> > > +            file://0001-PLSDK-AM437x-update.patch;patchdir=${S} \
> > > +            file://0002-Fix-SWIG-support.patch;patchdir=${S} \
> > > +            
> > > +file://0003-Add-more-command-line-options-and-move-OpenCV-
> > render.patch;patchdir=${S} \
> > > +           "
> > > +
> > > +S = "${WORKDIR}/git"
> > > +
> > > +export CMAKE_PREFIX_PATH="${WORKDIR}/build"
> > > +
> > > +CXXFLAGS_append = "-I${STAGING_INCDIR}/libusb-1.0 "
> > 
> > Using _append, but missing leading space and having unnecessary 
> > trailing space.
> > 
> > 
> > > +EXTRA_OECMAKE += "-DDISTROFEATURE=ExcludePCL -
> > DCMAKE_BUILD_TYPE=Debug -
> > DPYTHON_INCLUDE_DIRS=${STAGING_INCDIR}/include/python2.7 "
> > 
> > Trailing space.
> > BTW, any plan to use python3 instead of 2.7?
> > 
> > 
> > > +inherit pkgconfig cmake pythonnative python-dir
> > > +
> > > +DEPENDS = "libusb1 udev opencv boost python python-dev swig swig-
> > native "
> > 
> > Trailing space.
> > 
> > 
> > > +RDEPENDS_${PN} = "libusb1 udev opencv"
> > > +
> > > +do_install_append () {
> > > +    install -d ${D}${bindir}
> > > +    install -m 0775 ${S}/Test/CameraSystemTest.py ${D}${bindir}
> > > +    install -m 0775 ${S}/Test/CameraSystemIQFrameTest.py ${D}${bindir}
> > > +    install -m 0775 ${S}/Test/LensCalibrationTest.py ${D}${bindir} 
> > > +}
> > > +
> > > +FILES_${PN} = "${bindir}"
> > 
> > This is the default. No need to re-do the default.
> > 
> > 
> > > +FILES_${PN} += "${datadir}"
> > > +FILES_${PN} += "/etc /etc/udev /etc/udev/rules.d /etc/udev/rules.d/*"
> > > +FILES_${PN} += "${libdir}/*.so.*"
> > 
> > This is also the default.
> > 
> > 
> > > +FILES_${PN} += "${libdir}/voxel/*.so.*"
> > > +FILES_${PN} += "${libdir}/python2.7/_*.so"
> > > +FILES_${PN} += "${libdir}/python2.7/*.py"
> > > +
> > > +FILES_${PN}-dev += "${libdir}/cmake ${libdir}/cmake/Voxel
> > ${libdir}/cmake/TI3DToF"
> > > +FILES_${PN}-dev += "${libdir}/cmake/Voxel/*.cmake"
> > > +FILES_${PN}-dev += "${libdir}/cmake/TI3DToF/*.cmake"
> > > +FILES_${PN}-dev += "${libdir}/*.so"
> > 
> > As well as this one.
> > 
> > 
> > > +FILES_${PN}-dev += "${libdir}/voxel/*.so"
> > 
> > --
> > Denys