added a tracker that uses the RealSense SDK

16 files changed, 545 insertions, 0 deletions

diff --git a/.gitignore b/.gitignore
index 7aef1021..d3ccc990 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,3 +5,6 @@
 # merely git cola saves there
 /patches/
 .DS_Store
+*.obj
+*.exp
+*.pdb
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 54fbfed5..c54b1780 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -360,6 +360,10 @@ endif()
 opentrack_library(opentrack-tracker-udp ftnoir_tracker_udp)
 opentrack_library(opentrack-tracker-freepie-udp ftnoir_tracker_freepie-udp)
 
+if(WIN32)
+	opentrack_library(opentrack-tracker-rs ftnoir_tracker_rs)
+endif()
+
 if(OpenCV_FOUND)
     opentrack_library(opentrack-tracker-pt ftnoir_tracker_pt)
     target_link_libraries(opentrack-tracker-pt ${OpenCV_LIBS})
@@ -553,6 +557,11 @@ if(WIN32)
     install(FILES "${CMAKE_SOURCE_DIR}/bin/cleye.config" DESTINATION .)
 endif()
 
+if(WIN32)
+    install(FILES "${CMAKE_SOURCE_DIR}/ftnoir_tracker_rs/rs_impl/bin/opentrack-tracker-rs-impl.exe" DESTINATION . ${opentrack-perms})
+    install(FILES "${CMAKE_SOURCE_DIR}/ftnoir_tracker_rs/redist/intel_rs_sdk_runtime_websetup_6.0.21.6598.exe" DESTINATION ./clientfiles/ ${opentrack-perms})
+endif()
+
 if(APPLE)
     install(CODE "
     execute_process(COMMAND /bin/sh \"${CMAKE_SOURCE_DIR}/macosx/make-app-bundle.sh\"
diff --git a/ftnoir_tracker_rs/README.md b/ftnoir_tracker_rs/README.md
new file mode 100644
index 00000000..5fca4392
--- /dev/null
+++ b/ftnoir_tracker_rs/README.md
@@ -0,0 +1,16 @@
+# Intel® RealSense™ plugin for opentrack
+This is a tracker providing markerless 3D head tracking using the Intel® RealSense™ SDK and the Intel® RealSense™ front-facing cameras. 
+
+More information on RealSense can be found on [Intel.com](http://www.intel.com/content/www/us/en/architecture-and-technology/realsense-overview.html)
+
+This tracker uses a separate process that gets data from the SDK. Its sources are under rs_impl and can be recompiled by calling build.bat, which depends on
+Microsoft Visual C++ Compiler and the [Intel® RealSense™ SDK R4](https://software.intel.com/en-us/intel-realsense-sdk)
+
+# ISC License
+Copyright (c) 2015, Intel Corporation
+
+  Author: Xavier Hallade <xavier.hallade@intel.com>
+  
+Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+
+THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp
new file mode 100644
index 00000000..deae3bca
--- /dev/null
+++ b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp
@@ -0,0 +1,111 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs.h"
+#include "ftnoir_tracker_rs_controls.h"
+
+#include "opentrack/plugin-api.hpp"
+#include <QMessageBox>
+
+RSTracker::RSTracker() : mPose{ 0,0,0, 0,0,0 } {
+    mThread.setObjectName("RSTrackerWorkerThread");
+
+    mRealSenseImplProcess.moveToThread(&mThread);
+    mSocket.moveToThread(&mThread);
+
+    connect(&mRealSenseImplProcess, SIGNAL(finished(int)),
+            this, SLOT(rsImplProcessFinished(int)), Qt::QueuedConnection);
+
+    qRegisterMetaType<QProcess::ProcessError>("QProcess::ProcessError");
+    connect(&mRealSenseImplProcess, SIGNAL(error(QProcess::ProcessError)),
+            this, SLOT(rsImplProcessError(QProcess::ProcessError)), Qt::QueuedConnection);
+
+    connect(&mSocket, SIGNAL(readyRead()),
+            this, SLOT(readPendingUdpPoseData()), Qt::DirectConnection);
+
+    connect(&mThread, &QThread::started,
+            &mThread, [this]{
+        mSocket.bind(QHostAddress::LocalHost, 4242, QUdpSocket::DontShareAddress);
+        mRealSenseImplProcess.start("clientfiles\\opentrack-tracker-rs-impl.exe", QProcess::NotOpen);
+    }, Qt::DirectConnection);
+
+    connect(&mThread, &QThread::finished,
+            &mThread, [this]{
+            mRealSenseImplProcess.kill();
+            mRealSenseImplProcess.waitForFinished();
+    }, Qt::DirectConnection);
+}
+
+void RSTracker::start_tracker(QFrame*)
+{
+    mThread.start();
+}
+
+void RSTracker::readPendingUdpPoseData(){
+    double pose[6];
+
+    while(mSocket.hasPendingDatagrams()) {
+        mSocket.readDatagram((char*)pose, sizeof(pose));
+        QMutexLocker foo(&mMutex);
+        memcpy(mPose, pose, sizeof(pose));
+    }
+}
+
+void RSTracker::rsImplProcessError(QProcess::ProcessError error){
+    if(error == QProcess::FailedToStart){
+        QMessageBox::warning(NULL, "RealSense Tracking Error", "Couldn't start the RealSense tracking module.\nMaybe clientfiles\\opentrack-tracker-rs-impl.exe is missing.", QMessageBox::Ok);
+    }
+    else if(error == QProcess::Crashed){
+        QMessageBox::warning(NULL, "RealSense Tracking Error", "The RealSense tracking module has crashed.", QMessageBox::Ok);
+    }
+}
+
+
+void RSTracker::rsImplProcessFinished(int exitCode){
+    if(exitCode!=0){
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText("RealSense Tracking Error");
+        if(exitCode==-101){ //The implementation got an invalid handle from the RealSense SDK session/modules
+            msgBox.setInformativeText("Couldn't initialize RealSense tracking. Please install SDK Runtime R4.");
+        }
+        else {
+            msgBox.setInformativeText("Status code: " + QString::number(exitCode) + ".\n\nNote that you need the latest camera drivers and the SDK runtime R4 to be installed.");
+        }
+        QPushButton* triggerSdkInstallation = msgBox.addButton("Install Runtime", QMessageBox::ActionRole);
+        msgBox.addButton(QMessageBox::Ok);
+        msgBox.exec();
+
+        if(msgBox.clickedButton() == triggerSdkInstallation){
+            bool pStarted = QProcess::startDetached("clientfiles\\intel_rs_sdk_runtime_websetup_6.0.21.6598.exe --finstall=core,face3d --fnone=all");
+            if(!pStarted){
+                QMessageBox::warning(0, "Intel® RealSenseTM Runtime Installation", "Installation process failed to start.", QMessageBox::Ok);
+            }
+        }
+    }
+}
+
+void RSTracker::data(double *data)
+{
+    QMutexLocker foo(&mMutex);
+    memcpy(data, mPose, sizeof(mPose));
+}
+
+RSTracker::~RSTracker() {
+    mThread.quit();
+    mThread.wait();
+}
+
+QString RSTrackerMetaData::name() {
+    return QString("RealSense 3D Face Tracking");
+}
+
+QIcon RSTrackerMetaData::icon() {
+    return QIcon(":/images/RS.png");
+}
+
+OPENTRACK_DECLARE_TRACKER(RSTracker, RSTrackerControls, RSTrackerMetaData)
diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs.h b/ftnoir_tracker_rs/ftnoir_tracker_rs.h
new file mode 100644
index 00000000..7cda7370
--- /dev/null
+++ b/ftnoir_tracker_rs/ftnoir_tracker_rs.h
@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+ 
+#pragma once
+
+#include "ui_ftnoir_tracker_rs_controls.h"
+#include "opentrack/plugin-api.hpp"
+#include <QProcess>
+#include <QMutex>
+#include <QThread>
+#include <QUdpSocket>
+
+class RSTracker : protected QObject, public ITracker
+{
+    Q_OBJECT
+
+public:
+    RSTracker();
+    ~RSTracker();
+	void start_tracker(QFrame *) override;
+	void data(double *data) override;
+
+private:
+    QMutex mMutex;
+    QThread mThread;
+    QProcess mRealSenseImplProcess;
+    QUdpSocket mSocket;
+    double mPose[6];
+
+private slots:
+    void rsImplProcessError(QProcess::ProcessError);
+    void rsImplProcessFinished(int);
+    void readPendingUdpPoseData();
+
+};
+
+class RSTrackerMetaData : public Metadata
+{
+public:
+    QString name();
+    QIcon icon();
+};
diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.cpp b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.cpp
new file mode 100644
index 00000000..e5187bd1
--- /dev/null
+++ b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.cpp
@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs_controls.h"
+
+#include <QProcess>
+#include <QMessageBox>
+
+RSTrackerControls::RSTrackerControls()
+{
+    ui.setupUi(this);
+    connect(ui.triggerSDKInstallButton, SIGNAL(clicked(bool)), this, SLOT(doInstallRSRuntime()));
+    connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
+    connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
+}
+
+void RSTrackerControls::doInstallRSRuntime()
+{
+    bool processStarted = QProcess::startDetached("clientfiles\\intel_rs_sdk_runtime_websetup_6.0.21.6598.exe --finstall=core,face3d --fnone=all");
+    if(processStarted){
+        this->close();
+    }
+    else{
+        QMessageBox::warning(0, "Intel® RealSenseTM Runtime Installation", "Installation process failed to start.", QMessageBox::Ok);
+    }
+}
+
+void RSTrackerControls::doOK()
+{
+    this->close();
+}
+
+void RSTrackerControls::doCancel()
+{
+    this->close();
+}
diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.h b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.h
new file mode 100644
index 00000000..010dac99
--- /dev/null
+++ b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.h
@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs.h"
+
+class RSTrackerControls : public ITrackerDialog
+{
+    Q_OBJECT
+public:
+    RSTrackerControls();
+    void register_tracker(ITracker *) {}
+    void unregister_tracker() {}
+private:
+    Ui::UIRSControls ui;
+    private slots:
+    void doOK();
+    void doCancel();
+    void doInstallRSRuntime();
+};
diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.ui b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.ui
new file mode 100644
index 00000000..834803d1
--- /dev/null
+++ b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.ui
@@ -0,0 +1,67 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UIRSControls</class>
+ <widget class="QWidget" name="UIRSControls">
+  <property name="windowModality">
+   <enum>Qt::NonModal</enum>
+  </property>
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>378</width>
+    <height>193</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>RealSense 3D Tracker settings</string>
+  </property>
+  <property name="windowIcon">
+   <iconset>
+    <normaloff>images/RS.png</normaloff>images/RS.png</iconset>
+  </property>
+  <property name="layoutDirection">
+   <enum>Qt::LeftToRight</enum>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>There is no configuration available at the moment.
+
+The application will activate your camera for face tracking by the
+Intel® RealSense™ SDK. By design, the application has no direct access
+to any camera images.
+
+In order to use this tracker, you need a PC equipped with
+an Intel® RealSense™ R200 camera and the RealSense™ SDK R4 runtime.</string>
+     </property>
+    </widget>
+   </item>
+   <item alignment="Qt::AlignHCenter|Qt::AlignVCenter">
+    <widget class="QPushButton" name="triggerSDKInstallButton">
+     <property name="text">
+      <string>Install SDK Runtime R4</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+ <slots>
+  <slot>startEngineClicked()</slot>
+  <slot>stopEngineClicked()</slot>
+  <slot>cameraSettingsClicked()</slot>
+ </slots>
+</ui>
diff --git a/ftnoir_tracker_rs/images/RS.png b/ftnoir_tracker_rs/images/RS.png
new file mode 100644
index 00000000..bc1dfc11
--- /dev/null
+++ b/ftnoir_tracker_rs/images/RS.png
diff --git a/ftnoir_tracker_rs/redist/intel_rs_sdk_runtime_websetup_6.0.21.6598.exe b/ftnoir_tracker_rs/redist/intel_rs_sdk_runtime_websetup_6.0.21.6598.exe
new file mode 100644
index 00000000..34ecc9df
--- /dev/null
+++ b/ftnoir_tracker_rs/redist/intel_rs_sdk_runtime_websetup_6.0.21.6598.exe
diff --git a/ftnoir_tracker_rs/rs_impl/bin/opentrack-tracker-rs-impl.exe b/ftnoir_tracker_rs/rs_impl/bin/opentrack-tracker-rs-impl.exe
new file mode 100644
index 00000000..1e2a57f1
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/bin/opentrack-tracker-rs-impl.exe
diff --git a/ftnoir_tracker_rs/rs_impl/build.bat b/ftnoir_tracker_rs/rs_impl/build.bat
new file mode 100644
index 00000000..15206431
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/build.bat
@@ -0,0 +1,2 @@
+cd "%VS120COMNTOOLS%\..\..\VC"
+vcvarsall x64 && cd %~dp0 && CL /nologo /Ox /DUNICODE /D_UNICODE /MT /I"%RSSDK_DIR%\opensource\include" ftnoir_tracker_rs_impl.cpp udp_sender.cpp "%RSSDK_DIR%\opensource\src\libpxc\libpxc.cpp" /link ADVAPI32.LIB Ws2_32.lib /SUBSYSTEM:CONSOLE /OUT:bin\opentrack-tracker-rs-impl.exe 
\ No newline at end of file
diff --git a/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.cpp b/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.cpp
new file mode 100644
index 00000000..c1ba5c75
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.cpp
@@ -0,0 +1,151 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs_impl.h"
+#include <pxcsensemanager.h>
+#include <pxcfaceconfiguration.h>
+
+PXCSenseManager* g_senseManager = NULL;
+PXCFaceData* g_faceData = NULL;
+
+pxcStatus rs_tracker_set_configuration(PXCFaceModule *faceModule){
+	pxcStatus retStatus;
+	PXCFaceConfiguration *faceConfig = NULL;
+
+	if (faceModule == NULL)
+		return PXC_STATUS_HANDLE_INVALID;
+
+	faceConfig = faceModule->CreateActiveConfiguration();
+	if (faceConfig == NULL){
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	faceConfig->pose.isEnabled = true;
+	faceConfig->pose.maxTrackedFaces = 1;
+	faceConfig->pose.smoothingLevel = PXCFaceConfiguration::SmoothingLevelType::SMOOTHING_DISABLED;
+	faceConfig->strategy = PXCFaceConfiguration::STRATEGY_CLOSEST_TO_FARTHEST;
+	faceConfig->detection.isEnabled = false;
+	faceConfig->landmarks.isEnabled = false;
+	faceConfig->DisableAllAlerts();
+	faceConfig->SetTrackingMode(PXCFaceConfiguration::FACE_MODE_COLOR_PLUS_DEPTH);
+
+	retStatus = faceConfig->ApplyChanges();
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		faceConfig->Release();
+		return retStatus;
+	}
+
+	faceConfig->Release();
+	return PXC_STATUS_NO_ERROR;
+}
+
+int rs_tracker_impl_start(){
+	pxcStatus retStatus;
+	PXCFaceModule *faceModule = NULL;
+
+	g_senseManager = PXCSenseManager::CreateInstance();
+	if (g_senseManager == NULL){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	retStatus = g_senseManager->EnableFace();
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		rs_tracker_impl_end();
+		return retStatus;
+	}
+
+	faceModule = g_senseManager->QueryFace();
+	if (faceModule == NULL){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	retStatus = rs_tracker_set_configuration(faceModule);
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	retStatus = g_senseManager->Init();
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		rs_tracker_impl_end();
+		return retStatus;
+	}
+
+	g_faceData = faceModule->CreateOutput();
+	if (g_faceData == NULL){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	return PXC_STATUS_NO_ERROR;
+}
+
+int rs_tracker_impl_update_pose(double *data){
+	pxcStatus retStatus;
+	PXCFaceData::PoseEulerAngles angles;
+	PXCFaceData::HeadPosition headPosition;
+	PXCFaceData::Face *face = NULL;
+	PXCFaceData::PoseData *pose = NULL;
+	bool poseAnglesAvailable = false;
+	bool headPositionAvailable = false;
+
+	if (g_senseManager != NULL && g_faceData != NULL
+                && (retStatus = g_senseManager->AcquireFrame(true, 16)) == PXC_STATUS_NO_ERROR){
+
+		retStatus = g_faceData->Update();
+		if (retStatus != PXC_STATUS_NO_ERROR){
+			rs_tracker_impl_end();
+			return retStatus;
+		}
+
+		pxcI32 numberOfDetectedFaces = g_faceData->QueryNumberOfDetectedFaces();
+		for (pxcI32 i = 0; i < numberOfDetectedFaces; ++i) {
+			face = g_faceData->QueryFaceByIndex(0);
+			if (face == NULL) continue;
+
+			pose = face->QueryPose();
+			if (pose == NULL) continue;
+
+			poseAnglesAvailable = pose->QueryPoseAngles(&angles);
+			if (!poseAnglesAvailable) continue;
+
+			headPositionAvailable = pose->QueryHeadPosition(&headPosition);
+			if (!headPositionAvailable) continue;
+
+			//TODO: use pxcI32 pose->QueryConfidence(); ? for data[6] or to filter here ?
+
+			//x, y, z: cm
+			data[0] = headPosition.headCenter.x / 10.;
+			data[1] = headPosition.headCenter.y / 10.;
+			data[2] = headPosition.headCenter.z / 10.;
+
+			//yaw, pitch, roll: degrees
+			data[3] = -angles.yaw;
+			data[4] = angles.pitch;
+			data[5] = -angles.roll;
+		}
+
+		g_senseManager->ReleaseFrame();
+	}
+
+        return retStatus;
+}
+
+int rs_tracker_impl_end(){
+	if (g_faceData != NULL){
+		g_faceData->Release();
+		g_faceData = NULL;
+	}
+
+	if (g_senseManager != NULL){
+		g_senseManager->Release();
+		g_senseManager = NULL;
+	}
+	return PXC_STATUS_NO_ERROR;
+}
diff --git a/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.h b/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.h
new file mode 100644
index 00000000..0e4073d0
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.h
@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#pragma once
+#ifdef EXPORT_RS_IMPL
+#define RSTRACKERIMPL_VISIBILITY   __declspec( dllexport ) 
+#else
+#define RSTRACKERIMPL_VISIBILITY  
+#endif
+
+extern "C" {                
+    RSTRACKERIMPL_VISIBILITY int rs_tracker_impl_start();
+    RSTRACKERIMPL_VISIBILITY int rs_tracker_impl_update_pose(double *pose);
+    RSTRACKERIMPL_VISIBILITY int rs_tracker_impl_end();
+}
diff --git a/ftnoir_tracker_rs/rs_impl/udp_sender.cpp b/ftnoir_tracker_rs/rs_impl/udp_sender.cpp
new file mode 100644
index 00000000..095edd8f
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/udp_sender.cpp
@@ -0,0 +1,53 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs_impl.h"
+#include <winsock2.h>
+#include <Ws2tcpip.h>
+#include <commctrl.h>
+#include <cstdlib>
+
+#define UDP_PORT 4242
+
+int main(){
+    double pose[6] = { 0., 0., 0., 0., 0., 0. };
+    struct sockaddr_in socketInfo;
+    SOCKET s = 0;
+    WSADATA wsa;
+
+    int retStatus = rs_tracker_impl_start();
+    if (retStatus != 0){
+        exit(retStatus);
+    }
+
+    if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) //init winsocketapi
+        exit(EXIT_FAILURE);
+
+    memset(&socketInfo, 0, sizeof(socketInfo));
+    socketInfo.sin_family = AF_INET;
+    socketInfo.sin_port = htons(UDP_PORT);
+    InetPton(AF_INET, L"127.0.0.1", &socketInfo.sin_addr.S_un.S_addr);
+
+    if ((s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == SOCKET_ERROR) //create UDP socket
+        exit(EXIT_FAILURE);
+
+    for(;;) {
+        retStatus = rs_tracker_impl_update_pose(pose);
+        if(retStatus == 0){ //no error
+            if (sendto(s, (char*)&pose, sizeof(pose), 0, (struct sockaddr *) &socketInfo, sizeof(socketInfo)) == SOCKET_ERROR) //send new data
+                exit(EXIT_FAILURE);
+        }
+
+        if(retStatus != 0 && retStatus != -303)// -303=timeout and 0 are ok, else we've got to stop.
+            break;
+    }
+
+    closesocket(s);
+    WSACleanup();
+
+    return retStatus;
+}
diff --git a/ftnoir_tracker_rs/rs_tracker.qrc b/ftnoir_tracker_rs/rs_tracker.qrc
new file mode 100644
index 00000000..ccdda669
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_tracker.qrc
@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/">
+        <file>images/RS.png</file>
+    </qresource>
+</RCC>