I am currently busy with a project for sensory substitution. It is an extension of a previous project and i dont have the time to convert it to python 3 so have continued working in python 2.7, also working on ubuntu 16 with ROS kinetic. Its a visual to audio system and the previous system took color and converted it to sound. I am getting input from a depth camera so i have a color stream and depth stream and use a combination to produce sound. i have essentially just edited the previous code to detect people and play a sound when it is detected. It plays a sound but it is always in the centre so cant tell where the person is using the system.