diff --git a/gstreamer/gstreamer.py b/gstreamer/gstreamer.py
index 9770e09..2676439 100644
--- a/gstreamer/gstreamer.py
+++ b/gstreamer/gstreamer.py
@@ -21,14 +21,13 @@
 gi.require_version('Gtk', '3.0')
 from gi.repository import GLib, GObject, Gst, GstBase, Gtk
 
-GObject.threads_init()
 Gst.init(None)
 
 class GstPipeline:
     def __init__(self, pipeline, user_function, src_size):
         self.user_function = user_function
         self.running = False
-        self.gstbuffer = None
+        self.gstsample = None
         self.sink_size = None
         self.src_size = src_size
         self.box = None
@@ -36,9 +35,12 @@ def __init__(self, pipeline, user_function, src_size):
 
         self.pipeline = Gst.parse_launch(pipeline)
         self.overlay = self.pipeline.get_by_name('overlay')
+        self.gloverlay = self.pipeline.get_by_name('gloverlay')
         self.overlaysink = self.pipeline.get_by_name('overlaysink')
+
         appsink = self.pipeline.get_by_name('appsink')
-        appsink.connect('new-sample', self.on_new_sample)
+        appsink.connect('new-preroll', self.on_new_sample, True)
+        appsink.connect('new-sample', self.on_new_sample, False)
 
         # Set up a pipeline bus watch to catch errors.
         bus = self.pipeline.get_bus()
@@ -83,13 +85,13 @@ def on_bus_message(self, bus, message):
             Gtk.main_quit()
         return True
 
-    def on_new_sample(self, sink):
-        sample = sink.emit('pull-sample')
+    def on_new_sample(self, sink, preroll):
+        sample = sink.emit('pull-preroll' if preroll else 'pull-sample')
         if not self.sink_size:
             s = sample.get_caps().get_structure(0)
             self.sink_size = (s.get_value('width'), s.get_value('height'))
         with self.condition:
-            self.gstbuffer = sample.get_buffer()
+            self.gstsample = sample
             self.condition.notify_all()
         return Gst.FlowReturn.OK
 
@@ -113,18 +115,21 @@ def get_box(self):
     def inference_loop(self):
         while True:
             with self.condition:
-                while not self.gstbuffer and self.running:
+                while not self.gstsample and self.running:
                     self.condition.wait()
                 if not self.running:
                     break
-                gstbuffer = self.gstbuffer
-                self.gstbuffer = None
+                gstsample = self.gstsample
+                self.gstsample = None
 
             # Passing Gst.Buffer as input tensor avoids 2 copies of it.
+            gstbuffer = gstsample.get_buffer()
             svg = self.user_function(gstbuffer, self.src_size, self.get_box())
             if svg:
                 if self.overlay:
                     self.overlay.set_property('data', svg)
+                if self.gloverlay:
+                    self.gloverlay.emit('set-svg', svg, gstbuffer.pts)
                 if self.overlaysink:
                     self.overlaysink.set_property('svg', svg)
 
@@ -187,13 +192,15 @@ def on_bus_message_sync(bus, message, overlaysink):
         bus = self.pipeline.get_bus()
         bus.set_sync_handler(on_bus_message_sync, self.overlaysink)
 
-def detectCoralDevBoard():
+def get_dev_board_model():
   try:
-    if 'MX8MQ' in open('/sys/firmware/devicetree/base/model').read():
-      print('Detected Edge TPU dev board.')
-      return True
+    model = open('/sys/firmware/devicetree/base/model').read().lower()
+    if 'mx8mq' in model:
+        return 'mx8mq'
+    if 'mt8167' in model:
+        return 'mt8167'
   except: pass
-  return False
+  return None
 
 def run_pipeline(user_function,
                  src_size,
@@ -219,12 +226,23 @@ def run_pipeline(user_function,
                     ! videoconvert n-threads=4 ! videoscale n-threads=4
                     ! {src_caps} ! {leaky_q} """ % (videosrc, demux)
 
-    if detectCoralDevBoard():
-        scale_caps = None
-        PIPELINE += """ ! decodebin ! glupload ! tee name=t
-            t. ! queue ! glfilterbin filter=glbox name=glbox ! {sink_caps} ! {sink_element}
-            t. ! queue ! glsvgoverlaysink name=overlaysink
-        """
+    coral = get_dev_board_model()
+    if coral:
+        if 'mt8167' in coral:
+            PIPELINE += """ ! decodebin ! queue ! v4l2convert ! {scale_caps} !
+              glupload ! glcolorconvert ! video/x-raw(memory:GLMemory),format=RGBA !
+              tee name=t
+                t. ! queue ! glfilterbin filter=glbox name=glbox ! queue ! {sink_caps} ! {sink_element}
+                t. ! queue ! glsvgoverlay name=gloverlay sync=false ! glimagesink fullscreen=true
+                     qos=false sync=false
+            """
+            scale_caps = 'video/x-raw,format=BGRA,width={w},height={h}'.format(w=src_size[0], h=src_size[1])
+        else:
+            PIPELINE += """ ! decodebin ! glupload ! tee name=t
+                t. ! queue ! glfilterbin filter=glbox name=glbox ! {sink_caps} ! {sink_element}
+                t. ! queue ! glsvgoverlaysink name=overlaysink
+            """
+            scale_caps = None
     else:
         scale = min(appsink_size[0] / src_size[0], appsink_size[1] / src_size[1])
         scale = tuple(int(x * scale) for x in src_size)
diff --git a/gstreamer/install_requirements.sh b/gstreamer/install_requirements.sh
index 9e9cd6d..7c13f84 100644
--- a/gstreamer/install_requirements.sh
+++ b/gstreamer/install_requirements.sh
@@ -13,7 +13,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-if grep -s -q "MX8MQ" /sys/firmware/devicetree/base/model; then
+if grep -s -q "Mendel" /etc/os-release; then
   echo "No DevBoard specific dependencies"
 else
   # Install gstreamer 
diff --git a/opencv/install_requirements.sh b/opencv/install_requirements.sh
index 292be97..6cf0766 100755
--- a/opencv/install_requirements.sh
+++ b/opencv/install_requirements.sh
@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-if grep -s -q "MX8MQ" /sys/firmware/devicetree/base/model; then
+if grep -s -q "Mendel" /etc/os-release; then
   MENDEL_VER="$(cat /etc/mendel_version)"
   if [[ "$MENDEL_VER" == "1.0" || "$MENDEL_VER" == "2.0" || "$MENDEL_VER" == "3.0" ]]; then
     echo "Your version of Mendel is not compatible with OpenCV."
diff --git a/pygame/detect.py b/pygame/detect.py
index 19b9904..bd361df 100644
--- a/pygame/detect.py
+++ b/pygame/detect.py
@@ -63,8 +63,20 @@ def main():
 
     inference_size = input_size(interpreter)
 
-    print('By default using camera: ', camlist[-1])
-    camera = pygame.camera.Camera(camlist[-1], (cam_w, cam_h))
+    camera = None
+    for cam in camlist:
+        try:
+            camera = pygame.camera.Camera(cam, (cam_w, cam_h))
+            camera.start()
+            print(str(cam) + ' opened')
+            break
+        except SystemError as e:
+            print('Failed to open {}: {}'.format(str(cam), str(e)))
+            camera = None
+    if not camera:
+      sys.stderr.write("\nERROR: Unable to open a camera.\n")
+      sys,exit(1)
+
     try:
       display = pygame.display.set_mode((cam_w, cam_h), 0)
     except pygame.error as e:
@@ -75,7 +87,6 @@ def main():
 
     red = pygame.Color(255, 0, 0)
 
-    camera.start()
     scale_x, scale_y = cam_w / inference_size[0], cam_h / inference_size[1]
     try:
         last_time = time.monotonic()
@@ -98,7 +109,7 @@ def main():
                 text = font.render(label, True, red)
                 print(label, ' ', end='')
                 mysurface.blit(text, (bbox.xmin, bbox.ymin))
-                text = font.render(annotate_text, True, red)
+            text = font.render(annotate_text, True, red)
             print(annotate_text)
             mysurface.blit(text, (0, 0))
             display.blit(mysurface, (0, 0))
diff --git a/pygame/install_requirements.sh b/pygame/install_requirements.sh
index e12a124..aff4a10 100644
--- a/pygame/install_requirements.sh
+++ b/pygame/install_requirements.sh
@@ -13,7 +13,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-if grep -s -q "MX8MQ" /sys/firmware/devicetree/base/model; then
+if grep -s -q "Mendel" /etc/os-release; then
   echo "Installing DevBoard specific dependencies"
   sudo apt-get install -y python3-pygame
 else