First success merging 3.2.6

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@55 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

6 files changed, 206 insertions, 189 deletions

diff --git a/FTNoIR_Tracker_Base/ftnoir_tracker_sm_types.h b/FTNoIR_Tracker_Base/ftnoir_tracker_sm_types.h
new file mode 100644
index 00000000..9ebfd173
--- /dev/null
+++ b/FTNoIR_Tracker_Base/ftnoir_tracker_sm_types.h
@@ -0,0 +1,23 @@
+//

+// Definitions for the Shared Memory to send the data to FaceTrackNoIR

+//

+static const char* SM_MM_DATA = "SM_SharedMem";

+static const char* SM_FACEAPI = "SM_FaceAPI";

+static const char* SM_MUTEX = "SM_Mutex";

+

+#include "sm_api.h"

+

+struct TFaceData {

+	int DataID;

+	smEngineHeadPoseData new_pose;

+};

+typedef TFaceData * PFaceData;

+

+struct SMMemMap {

+	int command;					// Command from FaceTrackNoIR

+	int status;						// Status from faceAPI

+	TFaceData data;

+	HANDLE handle;

+};

+typedef SMMemMap * PSMMemMap;

+

diff --git a/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.h b/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.h
index 9af25800..5bed0a16 100644
--- a/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.h
+++ b/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.h
@@ -1,18 +1,14 @@
 #include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"

+#include "..\ftnoir_tracker_base\ftnoir_tracker_sm_types.h"

 #include "ui_FTNoIR_SMClientcontrols.h"

-#include "mainwindow.h"

 

-#include "sm_api_qt.h"

 #include <QMessageBox>

 #include <QSettings>

+#include <QProcess>

 #include "Windows.h"

 #include "math.h"

 

 using namespace std;

-//using namespace sm::faceapi::samplecode;

-using namespace sm::faceapi;

-using namespace sm::faceapi::qt;

-using namespace sm::faceapi::samplecode;

 

 class FTNoIR_Tracker_SM : public ITracker

 {

@@ -26,17 +22,28 @@ public:
     void StopTracker();

 	bool GiveHeadPoseData(THeadPoseData *data);				// Returns true if confidence is good

 	void loadSettings();

+	bool SMCreateMapping();

 

 	bool setParameterValue(const int index, const float newvalue);

 

 private:

 	/** face api variables **/

-	APIScope *faceapi_scope;

-    QSharedPointer<EngineBase> _engine;

-	VideoDisplayWidget *_display;

-	QVBoxLayout *l;

-	MainWindow *main_window;

+	//APIScope *faceapi_scope;

+ //   QSharedPointer<EngineBase> _engine;

+	//VideoDisplayWidget *_display;

+	//QVBoxLayout *l;

+	//MainWindow *main_window;

 	//parameter list for the filter-function(s)

+

+	//

+	// global variables

+	//

+	HANDLE hSMMemMap;

+	SMMemMap *pMemData;

+	HANDLE hSMMutex;

+//	smEngineHeadPoseData new_head_pose;

+	QProcess *faceAPI;

+

 	enum

 	{

 		kPortAddress=0,										// Index in QList

diff --git a/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.vcproj b/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.vcproj
index b15c259b..9964af61 100644
--- a/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.vcproj
+++ b/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.vcproj
@@ -171,10 +171,6 @@
 				RelativePath=".\ftnoir_tracker_faceapi.cpp"

 				>

 			</File>

-			<File

-				RelativePath=".\mainwindow.cpp"

-				>

-			</File>

 		</Filter>

 		<Filter

 			Name="Header Files"

@@ -207,64 +203,12 @@
 					/>

 				</FileConfiguration>

 			</File>

-			<File

-				RelativePath=".\mainwindow.h"

-				>

-				<FileConfiguration

-					Name="Release|Win32"

-					>

-					<Tool

-						Name="VCCustomBuildTool"

-						Description="Moc&apos;ing $(InputFileName)..."

-						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;  &quot;$(InputPath)&quot; -o &quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot; -D_WINDLL -DFTNOIR_TRACKER_BASE_LIB -DNDEBUG -DQT_CORE_LIB -DQT_LARGEFILE_SUPPORT -DQT_NO_DEBUG -DQT_THREAD_SUPPORT -DUNICODE -DWIN32 -I&quot;$(QTDIR)\include\.&quot; -I&quot;$(QTDIR)\include\QtCore\.&quot; -I&quot;$(QTDIR)\include\QtGui\.&quot; -I&quot;$(QTDIR)\include\qtmain\.&quot; -I&quot;$(QTDIR)\include\QtNetwork\.&quot; -I&quot;$(SM_API_CPP_WRAPPERS)\include\.&quot; -I&quot;$(SM_API_PATH)\include\.&quot; -I&quot;$(SM_API_QTDIR)\include\.&quot; -I&quot;$(SM_API_WIDGETS)\include\.&quot; -I&quot;.\.&quot; -I&quot;.\GeneratedFiles\$(ConfigurationName)\.&quot; -I&quot;.\GeneratedFiles\.&quot;&#x0D;&#x0A;"

-						AdditionalDependencies="&quot;$(QTDIR)\bin\moc.exe&quot;;$(InputPath)"

-						Outputs="&quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;"

-					/>

-				</FileConfiguration>

-				<FileConfiguration

-					Name="Debug|Win32"

-					>

-					<Tool

-						Name="VCCustomBuildTool"

-						Description="Moc&apos;ing $(InputFileName)..."

-						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;  &quot;$(InputPath)&quot; -o &quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot; -D_WINDLL -DFTNOIR_TRACKER_SM_LIB -DQT_CORE_LIB -DQT_LARGEFILE_SUPPORT -DQT_THREAD_SUPPORT -DUNICODE -DWIN32 -I&quot;$(QTDIR)\include\.&quot; -I&quot;$(QTDIR)\include\QtCore\.&quot; -I&quot;$(QTDIR)\include\qtmain\.&quot; -I&quot;.\.&quot; -I&quot;.\GeneratedFiles\$(ConfigurationName)\.&quot; -I&quot;.\GeneratedFiles\.&quot;&#x0D;&#x0A;"

-						AdditionalDependencies="&quot;$(QTDIR)\bin\moc.exe&quot;;$(InputPath)"

-						Outputs="&quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;"

-					/>

-				</FileConfiguration>

-			</File>

 		</Filter>

 		<Filter

 			Name="Form Files"

 			Filter="ui"

 			UniqueIdentifier="{99349809-55BA-4b9d-BF79-8FDBB0286EB3}"

 			>

-			<File

-				RelativePath=".\mainwindow.ui"

-				>

-				<FileConfiguration

-					Name="Release|Win32"

-					>

-					<Tool

-						Name="VCCustomBuildTool"

-						Description="Uic&apos;ing $(InputFileName)..."

-						CommandLine="&quot;$(QTDIR)\bin\uic.exe&quot; -o &quot;.\GeneratedFiles\ui_$(InputName).h&quot; &quot;$(InputPath)&quot;&#x0D;&#x0A;"

-						AdditionalDependencies="$(QTDIR)\bin\uic.exe"

-						Outputs="&quot;.\GeneratedFiles\ui_$(InputName).h&quot;"

-					/>

-				</FileConfiguration>

-				<FileConfiguration

-					Name="Debug|Win32"

-					>

-					<Tool

-						Name="VCCustomBuildTool"

-						Description="Uic&apos;ing $(InputFileName)..."

-						CommandLine="&quot;$(QTDIR)\bin\uic.exe&quot; -o &quot;.\GeneratedFiles\ui_$(InputName).h&quot; &quot;$(InputPath)&quot;&#x0D;&#x0A;"

-						AdditionalDependencies="$(QTDIR)\bin\uic.exe"

-						Outputs="&quot;.\GeneratedFiles\ui_$(InputName).h&quot;"

-					/>

-				</FileConfiguration>

-			</File>

 		</Filter>

 		<Filter

 			Name="Resource Files"

@@ -279,56 +223,17 @@
 			UniqueIdentifier="{71ED8ED8-ACB9-4CE9-BBE1-E00B30144E11}"

 			SourceControlFiles="false"

 			>

-			<File

-				RelativePath=".\GeneratedFiles\ui_mainwindow.h"

-				>

-			</File>

 			<Filter

 				Name="Release"

 				Filter="cpp;moc"

 				SourceControlFiles="false"

 				>

-				<File

-					RelativePath=".\GeneratedFiles\release\moc_mainwindow.cpp"

-					>

-					<FileConfiguration

-						Name="Debug|Win32"

-						ExcludedFromBuild="true"

-						>

-						<Tool

-							Name="VCCLCompilerTool"

-						/>

-					</FileConfiguration>

-				</File>

 			</Filter>

 			<Filter

 				Name="Debug"

 				Filter="cpp;moc"

 				SourceControlFiles="false"

 				>

-				<File

-					RelativePath=".\GeneratedFiles\Debug\moc_mainwindow.cpp"

-					>

-					<FileConfiguration

-						Name="Release|Win32"

-						ExcludedFromBuild="true"

-						>

-						<Tool

-							Name="VCCLCompilerTool"

-							ObjectFile="$(IntDir)\$(InputName)1.obj"

-							XMLDocumentationFileName="$(IntDir)\$(InputName)1.xdc"

-						/>

-					</FileConfiguration>

-					<FileConfiguration

-						Name="Debug|Win32"

-						>

-						<Tool

-							Name="VCCLCompilerTool"

-							ObjectFile="$(IntDir)\$(InputName)1.obj"

-							XMLDocumentationFileName="$(IntDir)\$(InputName)1.xdc"

-						/>

-					</FileConfiguration>

-				</File>

 			</Filter>

 		</Filter>

 	</Files>

diff --git a/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi.cpp b/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi.cpp
index f2f18877..a7f0668e 100644
--- a/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi.cpp
+++ b/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi.cpp
@@ -1,10 +1,5 @@
 #include "ftnoir_tracker_sm.h"

-#include "mainwindow.h"

-

-using namespace sm::faceapi;

-using namespace sm::faceapi::qt;

-using namespace sm::faceapi::samplecode;

-//using namespace sm::faceapi::qt;

+#include <QtGui>

 

 FTNoIR_Tracker_SM::FTNoIR_Tracker_SM()

 {

@@ -21,19 +16,18 @@ FTNoIR_Tracker_SM::FTNoIR_Tracker_SM()
 FTNoIR_Tracker_SM::~FTNoIR_Tracker_SM()

 {

 	qDebug() << "stopTracker says: terminating";

-	//if ( _display ) {

-	//	_display->disconnect();

-	//	qDebug() << "stopTracker says: display disconnected";

-	//	delete _display;

-	//	qDebug() << "stopTracker says: display deleted";

-	//	_display = 0;

-	//	delete l;

-	//	l = 0;

-	//	qDebug() << "stopTracker says: l deleted";

-	//}

 

-	_engine->stop();

-	smAPIQuit();

+	if ( pMemData != NULL ) {

+		pMemData->command = 100;					// Issue 'stop' command

+		UnmapViewOfFile ( pMemData );

+	}

+	

+	CloseHandle( hSMMutex );

+	CloseHandle( hSMMemMap );

+	hSMMemMap = 0;

+

+	//_engine->stop();

+	//smAPIQuit();

 }

 

 void FTNoIR_Tracker_SM::Release()

@@ -47,38 +41,52 @@ void FTNoIR_Tracker_SM::Initialize( QFrame *videoframe )
 	qDebug() << "FTNoIR_Tracker_SM::Initialize says: Starting ";

 	loadSettings();

 

-	try {

-		// Initialize the faceAPI Qt library

-		sm::faceapi::qt::initialize();

-		smLoggingSetFileOutputEnable( false );

+	if (SMCreateMapping()) {

+		qDebug() << "FTNoIR_Tracker_SM::Initialize Mapping created.";

+	}

+	else {

+		QMessageBox::warning(0,"FaceTrackNoIR Error","Memory mapping not created!",QMessageBox::Ok,QMessageBox::NoButton);

+	}

 

-		// Initialize the API

-		faceapi_scope = new APIScope();

+	//

+	// Start FTNoIR_FaceAPI_EXE.exe. The exe contains all faceAPI-stuff and is non-Qt...

+	//

+		QString program = "FTNoIR_FaceAPI_EXE.exe";

+ 		faceAPI = new QProcess(0);

+		faceAPI->start(program);

 

-		//if (APIScope::internalQtGuiIsDisabled()){

-		//	QMessageBox::warning(0,"faceAPI Error","Something Bad",QMessageBox::Ok,QMessageBox::NoButton);

-		//}

+	////try {

+	////	// Initialize the faceAPI Qt library

+	////	sm::faceapi::qt::initialize();

+	////	smLoggingSetFileOutputEnable( false );

 

-		// Create head-tracking engine v2 using first detected webcam

-		CameraInfo::registerType(SM_API_CAMERA_TYPE_WDM);

-		_engine = QSharedPointer<HeadTrackerV2>(new HeadTrackerV2());	

+	////	// Initialize the API

+	////	faceapi_scope = new APIScope();

 

-	} 

-	catch (sm::faceapi::Error &e)

-	{

-		/* ERROR with camera */

-		QMessageBox::warning(0,"faceAPI Error",e.what(),QMessageBox::Ok,QMessageBox::NoButton);

-	}

+	////	//if (APIScope::internalQtGuiIsDisabled()){

+	////	//	QMessageBox::warning(0,"faceAPI Error","Something Bad",QMessageBox::Ok,QMessageBox::NoButton);

+	////	//}

+

+	////	// Create head-tracking engine v2 using first detected webcam

+	////	CameraInfo::registerType(SM_API_CAMERA_TYPE_WDM);

+	////	_engine = QSharedPointer<HeadTrackerV2>(new HeadTrackerV2());	

+

+	////} 

+	////catch (sm::faceapi::Error &e)

+	////{

+	////	/* ERROR with camera */

+	////	QMessageBox::warning(0,"faceAPI Error",e.what(),QMessageBox::Ok,QMessageBox::NoButton);

+	////}

 

 

 

 	// Show the video widget

 	qDebug() << "FTNoIR_Tracker_SM::Initialize says: videoframe = " << videoframe;

 

-	// QMainWindow derived class. See mainwindow.h

-    QSharedPointer<CameraBase> camera;

-    main_window = new MainWindow(camera,_engine,0);

-    main_window->show();

+	//// QMainWindow derived class. See mainwindow.h

+ //   QSharedPointer<CameraBase> camera;

+ //   main_window = new MainWindow(camera,_engine,0);

+ //   main_window->show();

 

 	//videoframe->show();

 	//_display = new VideoDisplayWidget( _engine, videoframe, 0 );

@@ -93,15 +101,15 @@ void FTNoIR_Tracker_SM::Initialize( QFrame *videoframe )
 void FTNoIR_Tracker_SM::StartTracker( HWND parent_window )

 {

 

-	// starts the faceapi engine

-	if (_engine->state() != SM_API_ENGINE_STATE_HT_TRACKING) {

-		_engine->start();

-	}

+	//// starts the faceapi engine

+	//if (_engine->state() != SM_API_ENGINE_STATE_HT_TRACKING) {

+	//	_engine->start();

+	//}

 

-	// some parameteres [optional]

-	smHTSetHeadPosePredictionEnabled( _engine->handle(), false);

-	smHTSetLipTrackingEnabled( _engine->handle(), false);

-	smLoggingSetFileOutputEnable( false );

+	//// some parameteres [optional]

+	//smHTSetHeadPosePredictionEnabled( _engine->handle(), false);

+	//smHTSetLipTrackingEnabled( _engine->handle(), false);

+	//smLoggingSetFileOutputEnable( false );

 	return;

 }

 

@@ -110,26 +118,36 @@ void FTNoIR_Tracker_SM::StopTracker()
 

 	qDebug() << "FTNoIR_Tracker_SM::StopTracker says: Starting ";

 	// stops the faceapi engine

-	_engine->stop();

+////	_engine->stop();

 	return;

 }

 

 bool FTNoIR_Tracker_SM::GiveHeadPoseData(THeadPoseData *data)

 {

-	smEngineHeadPoseData head_pose;					// headpose from faceAPI

-	smEngineHeadPoseData temp_head_pose;			// headpose from faceAPI

 

-    smReturnCode smret = smHTCurrentHeadPose(_engine->handle(), &temp_head_pose);

-	memcpy(&head_pose, &temp_head_pose, sizeof(smEngineHeadPoseData));

+	qDebug() << "FTNoIR_Tracker_SM::GiveHeadPoseData says: Starting ";

 

-	data->x     = head_pose.head_pos.x * 100.0f;					// From meters to centimeters

-	data->y     = head_pose.head_pos.y * 100.0f;

-	data->z     = head_pose.head_pos.z * 100.0f;

-	data->yaw   = head_pose.head_rot.y_rads * 57.295781f;		// From rads to degrees

-	data->pitch = head_pose.head_rot.x_rads * 57.295781f;

-	data->roll  = head_pose.head_rot.z_rads * 57.295781f;

+	//

+	// Check if the pointer is OK and wait for the Mutex.

+	//

+	if ( (pMemData != NULL) && (WaitForSingleObject(hSMMutex, 100) == WAIT_OBJECT_0) ) {

 

-	return ( head_pose.confidence > 0 );

+		qDebug() << "FTNoIR_Tracker_SM::GiveHeadPoseData says: Retrieving data.";

+		

+		//

+		// Copy the measurements to FaceTrackNoIR.

+		//

+		data->x     = pMemData->data.new_pose.head_pos.x * 100.0f;					// From meters to centimeters

+		data->y     = pMemData->data.new_pose.head_pos.y * 100.0f;

+		data->z     = pMemData->data.new_pose.head_pos.z * 100.0f;

+		data->yaw   = pMemData->data.new_pose.head_rot.y_rads * 57.295781f;			// From rads to degrees

+		data->pitch = pMemData->data.new_pose.head_rot.x_rads * 57.295781f;

+		data->roll  = pMemData->data.new_pose.head_rot.z_rads * 57.295781f;

+	

+		ReleaseMutex(hSMMutex);

+		return ( pMemData->data.new_pose.confidence > 0 );

+	}

+	return false;

 }

 

 bool FTNoIR_Tracker_SM::setParameterValue(const int index, const float newvalue)

@@ -178,6 +196,62 @@ void FTNoIR_Tracker_SM::loadSettings() {
 	iniFile.endGroup ();

 }

 

+//

+// Create a memory-mapping to the faceAPI data.

+// It contains the tracking data, a command-code from FaceTrackNoIR

+//

+//

+bool FTNoIR_Tracker_SM::SMCreateMapping()

+{

+	qDebug() << "FTNoIR_Tracker_SM::FTCreateMapping says: Starting Function";

+

+	//

+	// A FileMapping is used to create 'shared memory' between the faceAPI and FaceTrackNoIR.

+	//

+	// Try to create a FileMapping to the Shared Memory.

+	// If one already exists: close it.

+	//

+	hSMMemMap = CreateFileMappingA( INVALID_HANDLE_VALUE , 00 , PAGE_READWRITE , 0 , 

+		                           sizeof( TFaceData ) + sizeof( HANDLE ) + 100, 

+								   (LPCSTR) SM_MM_DATA );

+

+	if ( hSMMemMap != 0 ) {

+		qDebug() << "FTNoIR_Tracker_SM::FTCreateMapping says: FileMapping Created!";

+	}

+

+	if ( ( hSMMemMap != 0 ) && ( (long) GetLastError == ERROR_ALREADY_EXISTS ) ) {

+		CloseHandle( hSMMemMap );

+		hSMMemMap = 0;

+	}

+

+	//

+	// Create a new FileMapping, Read/Write access

+	//

+	hSMMemMap = OpenFileMappingA( FILE_MAP_ALL_ACCESS , false , (LPCSTR) SM_MM_DATA );

+	if ( ( hSMMemMap != 0 ) ) {

+		qDebug() << "FTNoIR_Tracker_SM::FTCreateMapping says: FileMapping Created again..." << hSMMemMap;

+		pMemData = (SMMemMap *) MapViewOfFile(hSMMemMap, FILE_MAP_ALL_ACCESS, 0, 0, sizeof(TFaceData));

+		if (pMemData != NULL) {

+			qDebug() << "FTNoIR_Tracker_SM::FTCreateMapping says: MapViewOfFile OK.";

+//			pMemData->handle = handle;	// The game uses the handle, to send a message that the Program-Name was set!

+		}

+	    hSMMutex = CreateMutexA(NULL, false, SM_MUTEX);

+	}

+	else {

+		qDebug() << "FTNoIR_Tracker_SM::FTCreateMapping says: Error creating Shared Memory for faceAPI!";

+		return false;

+	}

+

+	//if (pMemData != NULL) {

+	//	pMemData->data.DataID = 1;

+	//	pMemData->data.CamWidth = 100;

+	//	pMemData->data.CamHeight = 250;

+	//}

+

+	return true;

+}

+

+

 

 ////////////////////////////////////////////////////////////////////////////////

 // Factory function that creates instances if the Tracker object.

diff --git a/FaceTrackNoIR.suo b/FaceTrackNoIR.suo
index a0fb59e4..8240a44c 100644
--- a/FaceTrackNoIR.suo
+++ b/FaceTrackNoIR.suo
diff --git a/faceAPI/main.cpp b/faceAPI/main.cpp
index 0aeb9bca..f1c5f768 100644
--- a/faceAPI/main.cpp
+++ b/faceAPI/main.cpp
@@ -10,6 +10,7 @@
 

 //FaceAPI headers

 #include "sm_api.h"

+#include "ftnoir_tracker_sm_types.h"

 #include "utils.h"

 

 //local headers

@@ -20,33 +21,13 @@ using namespace std;
 using namespace sm::faceapi::samplecode;

 

 //

-// Definitions for the Shared Memory to send the data to FaceTrackNoIR

-//

-static const char* SM_MM_DATA = "SM_SharedMem";

-static const char* SM_FACEAPI = "SM_FaceAPI";

-static const char* SM_MUTEX = "SM_Mutex";

-

-struct TFaceData {

-	int DataID;

-	smEngineHeadPoseData new_pose;

-};

-typedef TFaceData * PFaceData;

-

-struct SMMemMap {

-	int command;					// Command from FaceTrackNoIR

-	int status;						// Status from faceAPI

-	TFaceData data;

-	HANDLE handle;

-};

-typedef SMMemMap * PSMMemMap;

-

-//

 // global variables

 //

 HANDLE					hSMMemMap = NULL;

 SMMemMap				*pMemData;

 HANDLE					hSMMutex;

 smEngineHeadPoseData	new_head_pose;

+bool					stopCommand = false;

 

 //enums

 enum GROUP_ID

@@ -328,7 +309,7 @@ void run()
     THROW_ON_ERROR(smEngineStart(engine_handle));

 

     // Loop on the keyboard

-    while (processKeyPress(engine_handle, video_display_handle))

+    while (processKeyPress(engine_handle, video_display_handle) && !stopCommand)

     {

         // Read and print the current head-pose (if not using the callback mechanism)

 		#if (USE_HEADPOSE_CALLBACK==0)

@@ -360,6 +341,21 @@ void run()
     THROW_ON_ERROR(smEngineDestroy(&engine_handle));

     // Destroy video display

     THROW_ON_ERROR(smVideoDisplayDestroy(&video_display_handle));

+

+	if ( pMemData != NULL ) {

+		UnmapViewOfFile ( pMemData );

+	}

+	

+	if (hSMMutex != 0) {

+		CloseHandle( hSMMutex );

+	}

+	hSMMutex = 0;

+	

+	if (hSMMemMap != 0) {

+		CloseHandle( hSMMemMap );

+	}

+	hSMMemMap = 0;

+

 } // run()

 

 // Application entry point

@@ -386,17 +382,29 @@ int _tmain(int /*argc*/, _TCHAR** /*argv*/)
 //

 void updateHeadPose(smEngineHeadPoseData* temp_head_pose)

 {

+	char msg[100];

+

+	OutputDebugString(_T("updateHeadPose() says: Starting Function\n"));

+

 	//

 	// Check if the pointer is OK and wait for the Mutex.

 	//

 	if ( (pMemData != NULL) && (WaitForSingleObject(hSMMutex, 100) == WAIT_OBJECT_0) ) {

+		

+		OutputDebugString(_T("updateHeadPose() says: Writing Data\n"));

 

 		//

 		// Copy the Raw measurements directly to the client.

 		//

 		if (temp_head_pose->confidence > 0.0f)

 		{

-			memcpy(&pMemData->data,temp_head_pose,sizeof(smEngineHeadPoseData));

+			memcpy(&pMemData->data.new_pose,temp_head_pose,sizeof(smEngineHeadPoseData));

+			sprintf(msg, "HeadPose Yaw: %.2f\n", pMemData->data.new_pose.head_rot.x_rads);

+			OutputDebugStringA(msg);

+		}

+

+		if (pMemData->command == 100) {

+			stopCommand = TRUE;

 		}

 		ReleaseMutex(hSMMutex);

 	}