First version of the HT tracker

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@209 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

8 files changed, 1240 insertions, 0 deletions

diff --git a/FTNoIR_Tracker_HT/FTNoIR_Tracker_HT.vcproj b/FTNoIR_Tracker_HT/FTNoIR_Tracker_HT.vcproj
new file mode 100644
index 00000000..fc14e9af
--- /dev/null
+++ b/FTNoIR_Tracker_HT/FTNoIR_Tracker_HT.vcproj
@@ -0,0 +1,347 @@
+<?xml version="1.0" encoding="windows-1250"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="8,00"
+	Name="FTNoIR_Tracker_HT"
+	ProjectGUID="{61F2B142-F7DD-4070-8A68-53AD63A5D528}"
+	RootNamespace="FTNoIR_Tracker_HT"
+	Keyword="Qt4VSv1.0"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="$(SolutionDir)$(ConfigurationName)"
+			IntermediateDirectory="$(ConfigurationName)"
+			ConfigurationType="2"
+			CharacterSet="1"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="&quot;$(QTDIR)include&quot;;&quot;$(QTDIR)\include\QtCore&quot;;&quot;$(QTDIR)\include\QtGui&quot;;&quot;.\.GeneratedFiles&quot;"
+				PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS;_USRDLL;FTNOIR_TRACKER_HT_EXPORTS;QT_CORE_LIB;QT_GUI_LIB"
+				MinimalRebuild="true"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="3"
+				UsePrecompiledHeader="2"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="true"
+				DebugInformationFormat="4"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+				AdditionalDependencies="QtCored4.lib QtGuid4.lib"
+				LinkIncremental="2"
+				AdditionalLibraryDirectories="$(QTDIR)lib"
+				GenerateDebugInformation="true"
+				SubSystem="2"
+				TargetMachine="1"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCWebDeploymentTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="$(SolutionDir)\bin"
+			IntermediateDirectory="$(ConfigurationName)"
+			ConfigurationType="2"
+			CharacterSet="1"
+			WholeProgramOptimization="1"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				AdditionalIncludeDirectories="&quot;$(QTDIR)\include&quot;;&quot;$(QTDIR)\include\QtCore&quot;;&quot;$(QTDIR)\include\QtGui&quot;;&quot;.\.GeneratedFiles&quot;"
+				PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;_USRDLL;FTNOIR_TRACKER_HT_EXPORTS;QT_CORE_LIB;QT_GUI_LIB;FTNOIR_TRACKER_BASE_LIB"
+				RuntimeLibrary="2"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="true"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+				AdditionalDependencies="QtCore4.lib QtGui4.lib"
+				LinkIncremental="1"
+				AdditionalLibraryDirectories="&quot;$(SolutionDir)\dinput&quot;;&quot;$(QTDIR)\lib&quot;"
+				GenerateDebugInformation="true"
+				SubSystem="2"
+				OptimizeReferences="1"
+				EnableCOMDATFolding="2"
+				TargetMachine="1"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCWebDeploymentTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx"
+			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
+			>
+			<File
+				RelativePath=".\ftnoir_tracker_ht.cpp"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl;inc;xsd"
+			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
+			>
+			<File
+				RelativePath=".\ftnoir_tracker_ht.h"
+				>
+				<FileConfiguration
+					Name="Debug|Win32"
+					>
+					<Tool
+						Name="VCCustomBuildTool"
+						Description="Moc&apos;ing ftnoir_tracker_ht.h..."
+						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;  &quot;$(InputPath)&quot; -o &quot;.\.GeneratedFiles$(ConfigurationName)\moc_$(InputName).cpp&quot;  -DWIN32 -D_DEBUG -D_WINDOWS -D_USRDLL -DFTNOIR_TRACKER_HT_EXPORTS -DQT_CORE_LIB -DQT_GUI_LIB -D_WINDLL -D_UNICODE -DUNICODE  &quot;-I$(QTDIR)include&quot; &quot;-I$(QTDIR)\include\QtCore&quot; &quot;-I$(QTDIR)\include\QtGui&quot; &quot;-I.\.GeneratedFiles&quot; &quot;-fStdAfx.h&quot; &quot;-f../ftnoir_tracker_ht.h&quot;&#x0D;&#x0A;"
+						AdditionalDependencies="&quot;$(QTDIR)\bin\moc.exe&quot;;$(InputPath)"
+						Outputs="&quot;.\.GeneratedFiles$(ConfigurationName)\moc_$(InputName).cpp&quot;"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Release|Win32"
+					>
+					<Tool
+						Name="VCCustomBuildTool"
+						Description="Moc&apos;ing ftnoir_tracker_ht.h..."
+						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;  &quot;$(InputPath)&quot; -o &quot;.\.GeneratedFiles$(ConfigurationName)\moc_$(InputName).cpp&quot;  -DWIN32 -DNDEBUG -D_WINDOWS -D_USRDLL -DFTNOIR_TRACKER_HT_EXPORTS -DQT_CORE_LIB -DQT_GUI_LIB -DFTNOIR_TRACKER_BASE_LIB -D_WINDLL -D_UNICODE -DUNICODE  &quot;-I$(QTDIR)\include&quot; &quot;-I$(QTDIR)\include\QtCore&quot; &quot;-I$(QTDIR)\include\QtGui&quot; &quot;-I.\.GeneratedFiles&quot;&#x0D;&#x0A;"
+						AdditionalDependencies="&quot;$(QTDIR)\bin\moc.exe&quot;;$(InputPath)"
+						Outputs="&quot;.\.GeneratedFiles$(ConfigurationName)\moc_$(InputName).cpp&quot;"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath=".\ftnoir_tracker_ht_dll.h"
+				>
+			</File>
+			<File
+				RelativePath=".\headtracker-ftnoir.h"
+				>
+			</File>
+			<File
+				RelativePath=".\ht-api.h"
+				>
+			</File>
+			<File
+				RelativePath=".\stdafx.h"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Resource Files"
+			Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav"
+			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}"
+			>
+		</Filter>
+		<Filter
+			Name="Generated Files"
+			Filter="moc;h;cpp"
+			UniqueIdentifier="{71ED8ED8-ACB9-4CE9-BBE1-E00B30144E11}"
+			>
+			<File
+				RelativePath=".\.generatedfiles\ui_TrackerControls.h"
+				>
+			</File>
+			<Filter
+				Name="Debug"
+				Filter="cpp;moc"
+				SourceControlFiles="false"
+				>
+				<File
+					RelativePath=".\.GeneratedFilesDebug\moc_ftnoir_tracker_ht.cpp"
+					>
+					<FileConfiguration
+						Name="Release|Win32"
+						ExcludedFromBuild="true"
+						>
+						<Tool
+							Name="VCCLCompilerTool"
+						/>
+					</FileConfiguration>
+				</File>
+			</Filter>
+			<Filter
+				Name="Release"
+				Filter="cpp;moc"
+				SourceControlFiles="false"
+				>
+				<File
+					RelativePath=".\.GeneratedFilesRelease\moc_ftnoir_tracker_ht.cpp"
+					>
+					<FileConfiguration
+						Name="Debug|Win32"
+						ExcludedFromBuild="true"
+						>
+						<Tool
+							Name="VCCLCompilerTool"
+						/>
+					</FileConfiguration>
+				</File>
+			</Filter>
+		</Filter>
+		<Filter
+			Name="Form Files"
+			Filter="ui"
+			UniqueIdentifier="{99349809-55BA-4b9d-BF79-8FDBB0286EB3}"
+			>
+			<File
+				RelativePath=".\TrackerControls.ui"
+				>
+				<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>
+				<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>
+			</File>
+		</Filter>
+	</Files>
+	<Globals>
+		<Global
+			Name="lupdateOnBuild"
+			Value="1"
+		/>
+		<Global
+			Name="MocDir"
+			Value=".GeneratedFiles$(ConfigurationName)"
+		/>
+		<Global
+			Name="MocOptions"
+			Value=""
+		/>
+		<Global
+			Name="QtVersion Win32"
+			Value="qt-everywhere-opensource-src-4.6.2"
+		/>
+		<Global
+			Name="RccDir"
+			Value=".GeneratedFiles"
+		/>
+		<Global
+			Name="UicDir"
+			Value=".GeneratedFiles"
+		/>
+	</Globals>
+</VisualStudioProject>
diff --git a/FTNoIR_Tracker_HT/TrackerControls.ui b/FTNoIR_Tracker_HT/TrackerControls.ui
new file mode 100644
index 00000000..7f599579
--- /dev/null
+++ b/FTNoIR_Tracker_HT/TrackerControls.ui
@@ -0,0 +1,261 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>378</width>
+    <height>127</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>378</width>
+    <height>127</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>HT tracker settings</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>10</y>
+     <width>141</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Vertical camera field of view</string>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="cameraFOV">
+   <property name="geometry">
+    <rect>
+     <x>150</x>
+     <y>10</y>
+     <width>91</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="locale">
+    <locale language="English" country="UnitedStates"/>
+   </property>
+   <property name="minimum">
+    <double>35.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>180.000000000000000</double>
+   </property>
+   <property name="value">
+    <double>69.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>40</y>
+     <width>101</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Frames per second</string>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="cameraFPS">
+   <property name="geometry">
+    <rect>
+     <x>150</x>
+     <y>40</y>
+     <width>81</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <item>
+    <property name="text">
+     <string notr="true">Default</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>30</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>60</string>
+    </property>
+   </item>
+   <item>
+    <property name="text">
+     <string>120</string>
+    </property>
+   </item>
+  </widget>
+  <widget class="QLabel" name="label_3">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>70</y>
+     <width>71</width>
+     <height>16</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Camera index</string>
+   </property>
+  </widget>
+  <widget class="QSpinBox" name="cameraIndex">
+   <property name="geometry">
+    <rect>
+     <x>150</x>
+     <y>70</y>
+     <width>42</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="minimum">
+    <number>-1</number>
+   </property>
+   <property name="maximum">
+    <number>255</number>
+   </property>
+   <property name="singleStep">
+    <number>1</number>
+   </property>
+   <property name="value">
+    <number>-1</number>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="buttonOK">
+   <property name="geometry">
+    <rect>
+     <x>220</x>
+     <y>100</y>
+     <width>75</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>OK</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="buttonCancel">
+   <property name="geometry">
+    <rect>
+     <x>300</x>
+     <y>100</y>
+     <width>75</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Cancel</string>
+   </property>
+  </widget>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>270</x>
+     <y>10</y>
+     <width>101</width>
+     <height>81</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Enable axes</string>
+   </property>
+   <widget class="QCheckBox" name="rx">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>20</y>
+      <width>70</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>RX</string>
+    </property>
+   </widget>
+   <widget class="QCheckBox" name="ry">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>40</y>
+      <width>70</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>RY</string>
+    </property>
+   </widget>
+   <widget class="QCheckBox" name="rz">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>60</y>
+      <width>70</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>RZ</string>
+    </property>
+   </widget>
+   <widget class="QCheckBox" name="tx">
+    <property name="geometry">
+     <rect>
+      <x>60</x>
+      <y>20</y>
+      <width>70</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>TX</string>
+    </property>
+   </widget>
+   <widget class="QCheckBox" name="ty">
+    <property name="geometry">
+     <rect>
+      <x>60</x>
+      <y>40</y>
+      <width>70</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>TY</string>
+    </property>
+   </widget>
+   <widget class="QCheckBox" name="tz">
+    <property name="geometry">
+     <rect>
+      <x>60</x>
+      <y>60</y>
+      <width>70</width>
+      <height>17</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>TZ</string>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp
new file mode 100644
index 00000000..0b9c923f
--- /dev/null
+++ b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.cpp
@@ -0,0 +1,386 @@
+#include "stdafx.h"
+#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
+#include "headtracker-ftnoir.h"
+#include "ftnoir_tracker_ht.h"
+#include "ftnoir_tracker_ht_dll.h"
+#include "UI_TRACKERCONTROLS.h"
+
+static TCHAR shmName[] = TEXT(HT_SHM_NAME);
+static TCHAR mutexName[] = TEXT(HT_MUTEX_NAME);
+
+#define WIDGET_WIDTH 250
+#define WIDGET_HEIGHT 170
+
+static void load_settings(ht_config_t* config, Tracker* tracker)
+{
+	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");
+	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );
+
+	iniFile.beginGroup( "HT-Tracker" );
+	config->classification_delay = 1000;
+	config->field_of_view = iniFile.value("fov", 69).toFloat();
+	config->pyrlk_pyramids = 3;
+	config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
+	config->max_keypoints = 250;
+	config->keypoint_quality = 31;
+	config->keypoint_distance = 3.9;
+	config->keypoint_3distance = 12;
+	config->force_width = 640;
+	config->force_height = 480;
+	config->force_fps = iniFile.value("fps", 0).toInt();
+	config->camera_index = iniFile.value("camera-index", -1).toInt();
+	config->ransac_num_iters = 100;
+	config->ransac_max_reprojection_error = 7;
+	config->ransac_max_inlier_error = 7;
+	config->ransac_max_mean_error = 5;
+	config->ransac_abs_max_mean_error = 7;
+	config->debug = 0;
+	config->ransac_min_features = 0.90;
+	if (tracker)
+	{
+		tracker->enableRX = iniFile.value("enable-rx", true).toBool();
+		tracker->enableRY = iniFile.value("enable-ry", true).toBool();
+		tracker->enableRZ = iniFile.value("enable-rz", true).toBool();
+		tracker->enableTX = iniFile.value("enable-tx", true).toBool();
+		tracker->enableTY = iniFile.value("enable-ty", true).toBool();
+		tracker->enableTZ = iniFile.value("enable-tz", true).toBool();
+	}
+	iniFile.endGroup();
+}
+
+Tracker::Tracker()
+{
+	videoWidget = NULL;
+	layout = NULL;
+	enableRX = enableRY = enableRZ = enableTX = enableTY = enableTZ = true;
+	hMutex = CreateMutex(NULL, false, mutexName);
+	hMapFile = CreateFileMapping(
+                 INVALID_HANDLE_VALUE,
+                 NULL,
+                 PAGE_READWRITE,
+                 0,
+				 sizeof(ht_shm_t),
+                 shmName);
+	shm = (ht_shm_t*) MapViewOfFile(hMapFile,
+									FILE_MAP_READ | FILE_MAP_WRITE,
+									0,
+									0,
+									sizeof(ht_shm_t));
+	paused = false;
+	load_settings(&shm->config, this);
+}
+
+Tracker::~Tracker()
+{
+	if (layout)
+		delete layout;
+	if (videoWidget)
+		delete videoWidget;
+	UnmapViewOfFile(shm);
+	CloseHandle(hMapFile);
+	CloseHandle(hMutex);
+}
+
+void Tracker::Initialize(QFrame *videoframe)
+{
+	videoframe->setAttribute(Qt::WA_NativeWindow);
+	videoframe->show();
+	videoWidget = new VideoWidget(videoframe);
+	QHBoxLayout* layout = new QHBoxLayout();
+	layout->setContentsMargins(0, 0, 0, 0);
+	layout->addWidget(videoWidget);
+	if (videoframe->layout())
+		delete videoframe->layout();
+	videoframe->setLayout(layout);
+	videoWidget->resize(WIDGET_WIDTH, WIDGET_HEIGHT);
+	videoWidget->show();
+	this->layout = layout;
+}
+
+void Tracker::StartTracker(HWND parent)
+{
+	if (paused)
+	{
+		shm->pause = false;
+	}
+	else
+	{
+		load_settings(&shm->config, this);
+		shm->frame.channels = shm->frame.width = shm->frame.height = 0;
+		shm->pause = shm->terminate = shm->running = false;
+		shm->timer = 0;
+		switch (subprocess.state())
+		{
+		case QProcess::ProcessState::Running:
+		case QProcess::ProcessState::Starting:
+			subprocess.kill();
+		}
+		subprocess.setWorkingDirectory("tracker-ht");
+		subprocess.start("tracker-ht/headtracker-ftnoir.exe");
+	}
+}
+
+void Tracker::StopTracker(bool exit)
+{
+	if (exit)
+	{
+		shm->terminate = true;
+		subprocess.kill();
+	}
+	else
+	{
+		shm->pause = true;
+	}
+}
+
+bool Tracker::GiveHeadPoseData(THeadPoseData* data)
+{
+	bool ret = false;
+
+	if (WaitForSingleObject(hMutex, INFINITE) == WAIT_OBJECT_0)
+	{
+		shm->timer = 0;
+		if (WaitForSingleObject(videoWidget->hMutex, INFINITE) == WAIT_OBJECT_0)
+		{
+			memcpy(&videoWidget->videoFrame, &shm->frame, sizeof(ht_video_t));
+			ReleaseMutex(videoWidget->hMutex);
+		}
+		if (shm->result.filled) {
+			if (enableRX)
+				data->yaw = shm->result.rotx * 57.295781;
+			if (enableRY)
+				data->pitch = shm->result.roty * 57.295781;
+			if (enableRZ)
+				data->roll = shm->result.rotz * 57.295781;
+			if (enableTX)
+				data->x = shm->result.tx;
+			if (enableTY)
+				data->y = shm->result.ty;
+			if (enableTZ)
+				data->z = shm->result.tz;
+			ret = true;
+		}
+		ReleaseMutex(hMutex);
+	}
+
+	return ret;
+}
+
+VideoWidget::VideoWidget(QWidget* parent) : QWidget(parent)
+{
+	hMutex = CreateMutex(NULL, false, NULL);
+	videoFrame.channels = videoFrame.height = videoFrame.width = 0;
+    connect(&timer, SIGNAL(timeout()), this, SLOT(update()));
+    timer.start(35);
+}
+
+VideoWidget::~VideoWidget()
+{
+	CloseHandle(hMutex);
+}
+
+void VideoWidget::paintEvent(QPaintEvent *e)
+{
+	if (WaitForSingleObject(hMutex, INFINITE) == WAIT_OBJECT_0)
+	{
+		if (videoFrame.width > 0)
+		{
+			QImage image((uchar*) videoFrame.frame, videoFrame.width, videoFrame.height, QImage::Format_RGB888);
+			QPainter painter(this);
+			painter.drawPixmap(e->rect(), QPixmap::fromImage(image.rgbSwapped()).scaled(WIDGET_WIDTH, WIDGET_HEIGHT, Qt::AspectRatioMode::KeepAspectRatioByExpanding), e->rect());
+		}
+		ReleaseMutex(hMutex);
+	}
+}
+
+//-----------------------------------------------------------------------------
+void TrackerDll::getFullName(QString *strToBeFilled)
+{
+	*strToBeFilled = "HT 0.5";
+}
+
+void TrackerDll::getShortName(QString *strToBeFilled)
+{
+	*strToBeFilled = "HT";
+}
+
+void TrackerDll::getDescription(QString *strToBeFilled)
+{
+	*strToBeFilled = "";
+}
+
+void TrackerDll::getIcon(QIcon *icon)
+{
+	*icon = QIcon();
+}
+
+
+//-----------------------------------------------------------------------------
+#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
+
+FTNOIR_TRACKER_BASE_EXPORT ITrackerDllPtr __stdcall GetTrackerDll()
+{
+	return new TrackerDll;
+}
+
+#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
+
+FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker()
+{
+	return new Tracker;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Factory function that creates instances if the Tracker-settings dialog object.
+
+// Export both decorated and undecorated names.
+//   GetTrackerDialog     - Undecorated name, which can be easily used with GetProcAddress
+//                          Win32 API function.
+//   _GetTrackerDialog@0  - Common name decoration for __stdcall functions in C language.
+#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
+
+FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( )
+{
+	return new TrackerControls;
+}
+
+TrackerControls::TrackerControls()
+{
+	ui.setupUi(this);
+	loadSettings();
+	connect(ui.cameraIndex, SIGNAL(valueChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.cameraFPS, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.cameraFOV, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
+	connect(ui.rx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.ry, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.rz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.tx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.ty, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.tz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.buttonCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
+	connect(ui.buttonOK, SIGNAL(clicked()), this, SLOT(doOK()));
+	settingsDirty = false;
+}
+
+TrackerControls::~TrackerControls()
+{
+}
+
+void TrackerControls::showEvent(QShowEvent *event)
+{
+}
+
+void TrackerControls::Initialize(QWidget* parent)
+{
+	show();
+}
+
+void TrackerControls::loadSettings()
+{
+	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");
+	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );
+	iniFile.beginGroup( "HT-Tracker" );
+	ui.cameraIndex->setValue(iniFile.value("camera-index", -1).toInt());
+	ui.cameraFOV->setValue(iniFile.value("fov", 69).toInt());
+	int fps;
+	switch (iniFile.value("fps", 0).toInt())
+	{
+	default:
+	case 0:
+		fps = 0;
+		break;
+	case 30:
+		fps = 1;
+		break;
+	case 60:
+		fps = 2;
+		break;
+	case 120:
+		fps = 3;
+		break;
+	}
+	ui.cameraFPS->setCurrentIndex(fps);
+	ui.rx->setCheckState(iniFile.value("enable-rx", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
+	ui.ry->setCheckState(iniFile.value("enable-ry", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
+	ui.rz->setCheckState(iniFile.value("enable-rz", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
+	ui.tx->setCheckState(iniFile.value("enable-tx", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
+	ui.ty->setCheckState(iniFile.value("enable-ty", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
+	ui.tz->setCheckState(iniFile.value("enable-tz", true).toBool() ? Qt::CheckState::Checked : Qt::CheckState::Unchecked);
+	iniFile.endGroup();
+	settingsDirty = false;
+}
+
+void TrackerControls::save()
+{
+	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");
+	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );
+
+	iniFile.beginGroup( "HT-Tracker" );
+	iniFile.setValue("fov", ui.cameraFOV->value());
+	int fps;
+	switch (ui.cameraFPS->currentIndex())
+	{
+	case 0:
+	default:
+		fps = 0;
+		break;
+	case 1:
+		fps = 30;
+		break;
+	case 2:
+		fps = 60;
+		break;
+	case 3:
+		fps = 120;
+		break;
+	}
+	iniFile.setValue("fps", fps);
+	iniFile.setValue("camera-index", ui.cameraIndex->value());
+	iniFile.setValue("enable-rx", ui.rx->checkState());
+	iniFile.setValue("enable-ry", ui.ry->checkState());
+	iniFile.setValue("enable-rz", ui.rz->checkState());
+	iniFile.setValue("enable-tx", ui.tx->checkState());
+	iniFile.setValue("enable-ty", ui.ty->checkState());
+	iniFile.setValue("enable-tz", ui.tz->checkState());
+	iniFile.endGroup();
+	settingsDirty = false;
+}
+
+void TrackerControls::doOK()
+{
+	save();
+	this->close();
+}
+
+void TrackerControls::doCancel()
+{
+	if (settingsDirty) {
+		int ret = QMessageBox::question ( this,
+										  "Settings have changed",
+										  "Do you want to save the settings?",
+										  QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel,
+										  QMessageBox::Discard );
+
+		switch (ret) {
+			case QMessageBox::Save:
+				save();
+				this->close();
+				break;
+			case QMessageBox::Discard:
+				this->close();
+				break;
+			case QMessageBox::Cancel:
+				// Cancel was clicked
+				break;
+			default:
+				// should never be reached
+			break;
+		}
+	}
+	else {
+		this->close();
+	}
+}
\ No newline at end of file
diff --git a/FTNoIR_Tracker_HT/ftnoir_tracker_ht.h b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.h
new file mode 100644
index 00000000..30d62f32
--- /dev/null
+++ b/FTNoIR_Tracker_HT/ftnoir_tracker_ht.h
@@ -0,0 +1,78 @@
+/* Copyright (c) 2013 Stanisław Halik <sthalik@misaki.pl>
+ *
+ * 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.
+ */
+
+#ifndef FTNOIR_TRACKER_HT_H
+#define FTNOIR_TRACKER_HT_H
+
+#include "stdafx.h"
+#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
+#include "headtracker-ftnoir.h"
+#include "ui_TrackerControls.h"
+
+class VideoWidget : public QWidget
+{
+	Q_OBJECT
+public:
+	VideoWidget(QWidget* parent);
+	~VideoWidget();
+	ht_video_t videoFrame;
+	HANDLE hMutex;
+protected:
+	void paintEvent(QPaintEvent* e);
+private:
+	QTimer timer;
+};
+
+class Tracker : public ITracker
+{
+public:
+	Tracker();
+	~Tracker();
+	void Initialize(QFrame *videoframe);
+	void StartTracker(HWND parent_window);
+	void StopTracker(bool exit);
+	bool GiveHeadPoseData(THeadPoseData *data);
+	bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
+	ht_shm_t* shm;
+private:
+	HANDLE hMutex, hMapFile;
+	bool paused;
+	QProcess subprocess;
+	VideoWidget* videoWidget;
+	QHBoxLayout* layout;
+};
+
+// Widget that has controls for FTNoIR protocol client-settings.
+class TrackerControls : public QWidget, public ITrackerDialog
+{
+    Q_OBJECT
+public:
+
+	explicit TrackerControls();
+    virtual ~TrackerControls();
+	void showEvent ( QShowEvent * event );
+
+    void Initialize(QWidget *parent);
+	void registerTracker(ITracker *tracker) {};
+	void unRegisterTracker() {};
+
+private:
+	Ui::Form ui;
+	void loadSettings();
+	void save();
+	bool settingsDirty;
+
+private slots:
+	void doOK();
+	void doCancel();
+	void settingChanged() { settingsDirty = true; };
+	void settingChanged(int) { settingsDirty = true; };
+	void settingChanged(double) { settingsDirty = true; };
+};
+
+#endif
+
diff --git a/FTNoIR_Tracker_HT/ftnoir_tracker_ht_dll.h b/FTNoIR_Tracker_HT/ftnoir_tracker_ht_dll.h
new file mode 100644
index 00000000..01b4cfa0
--- /dev/null
+++ b/FTNoIR_Tracker_HT/ftnoir_tracker_ht_dll.h
@@ -0,0 +1,19 @@
+/* Copyright (c) 2013 Stanisław Halik <sthalik@misaki.pl>
+ *
+ * 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.
+ */
+
+#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
+
+//-----------------------------------------------------------------------------
+class TrackerDll : public ITrackerDll
+{
+	// ITrackerDll interface
+	void Initialize() {}
+	void getFullName(QString *strToBeFilled);
+	void getShortName(QString *strToBeFilled);
+	void getDescription(QString *strToBeFilled);
+	void getIcon(QIcon *icon);
+};
\ No newline at end of file
diff --git a/FTNoIR_Tracker_HT/headtracker-ftnoir.h b/FTNoIR_Tracker_HT/headtracker-ftnoir.h
new file mode 100644
index 00000000..48510997
--- /dev/null
+++ b/FTNoIR_Tracker_HT/headtracker-ftnoir.h
@@ -0,0 +1,24 @@
+#pragma once
+#include <stdlib.h>
+#include <stdio.h>
+#include "ht-api.h"
+
+#define HT_SHM_NAME "ftnoir-tracker-ht-shm"
+#define HT_MUTEX_NAME "ftnoir-tracker-ht-mutex"
+
+#define HT_MAX_VIDEO_WIDTH 2048
+#define HT_MAX_VIDEO_HEIGHT 1536
+#define HT_MAX_VIDEO_CHANNELS 3
+
+typedef struct {
+    int width, height, channels;
+    unsigned char frame[HT_MAX_VIDEO_WIDTH * HT_MAX_VIDEO_HEIGHT * HT_MAX_VIDEO_CHANNELS];
+} ht_video_t;
+
+typedef struct {
+    ht_video_t frame;
+    ht_config_t config;
+    ht_result_t result;
+    volatile int timer;
+    volatile bool pause, terminate, running;
+} ht_shm_t;
diff --git a/FTNoIR_Tracker_HT/ht-api.h b/FTNoIR_Tracker_HT/ht-api.h
new file mode 100644
index 00000000..ac8d45cf
--- /dev/null
+++ b/FTNoIR_Tracker_HT/ht-api.h
@@ -0,0 +1,85 @@
+#pragma once
+#ifndef HT_API
+#ifndef __cplusplus
+# define HT_EXTERN 
+#else
+# define HT_EXTERN extern "C" 
+#endif
+#   if defined(_WIN32) && !defined(MINGW)
+#     define HT_API(t) HT_EXTERN __declspec(dllexport) t __stdcall
+#   else
+#    define HT_API(t) HT_EXTERN t
+#   endif
+#endif
+#if !defined(_WIN32) && !defined(_isnan)
+#  define _isnan isnan
+#endif
+#include <stdio.h>
+struct ht_context;
+typedef struct ht_context headtracker_t;
+
+typedef struct ht_config {
+	float field_of_view;
+	float classification_delay;
+	int   pyrlk_pyramids;
+	int   pyrlk_win_size_w;
+	int   pyrlk_win_size_h;
+    float ransac_max_inlier_error;
+    float ransac_max_reprojection_error;
+	int   max_keypoints;
+    int   keypoint_quality;
+	float keypoint_distance;
+    float keypoint_3distance;
+    int   force_width;
+	int   force_height;
+	int   force_fps;
+	int   camera_index;
+	bool  debug;
+    int   ransac_num_iters;
+    float ransac_min_features;
+    float ransac_max_mean_error;
+    float ransac_abs_max_mean_error;
+} ht_config_t;
+
+typedef struct {
+    double rotx, roty, rotz;
+    double tx, ty, tz;
+	bool filled;
+} ht_result_t;
+
+typedef enum {
+	cfg_type_float = 0,
+	cfg_type_int   = 1,
+	cfg_type_bool  = 2,
+    cfg_type_double = 3
+} ht_cfg_type_t;
+
+typedef union
+{
+	double d;
+	float f;
+	int i;
+} ht_cfg_value_t;
+
+typedef struct {
+	const char* name;
+	int offset;
+	ht_cfg_type_t type;
+	ht_cfg_value_t default_value;
+	ht_cfg_value_t min;
+	ht_cfg_value_t max;
+	const char* docstring;
+} ht_reflection_t;
+
+typedef struct {
+    int rows, cols, channels;
+    unsigned char* data;
+} ht_frame_t;
+
+HT_API(headtracker_t*) ht_make_context(const ht_config_t* config, const char* filename);
+HT_API(void) ht_load_config(FILE* stream, ht_config_t* cfg);
+HT_API(void) ht_free_context(headtracker_t* ctx);
+HT_API(void) ht_get_bgr_frame(headtracker_t* ctx, ht_frame_t* ret);
+HT_API(void) ht_make_config(ht_config_t* cfg);
+HT_API(bool) ht_cycle(headtracker_t* ctx, ht_result_t* euler);
+HT_API(void) ht_reset(headtracker_t* ctx);
diff --git a/FTNoIR_Tracker_HT/stdafx.h b/FTNoIR_Tracker_HT/stdafx.h
new file mode 100644
index 00000000..a0c72843
--- /dev/null
+++ b/FTNoIR_Tracker_HT/stdafx.h
@@ -0,0 +1,40 @@
+// stdafx.h : include file for standard system include files,
+// or project specific include files that are used frequently, but
+// are changed infrequently
+//
+
+#pragma once
+
+// Modify the following defines if you have to target a platform prior to the ones specified below.
+// Refer to MSDN for the latest info on corresponding values for different platforms.
+#ifndef WINVER				// Allow use of features specific to Windows XP or later.
+#define WINVER 0x0501		// Change this to the appropriate value to target other versions of Windows.
+#endif
+
+#ifndef _WIN32_WINNT		// Allow use of features specific to Windows XP or later.                   
+#define _WIN32_WINNT 0x0501	// Change this to the appropriate value to target other versions of Windows.
+#endif						
+
+#ifndef _WIN32_WINDOWS		// Allow use of features specific to Windows 98 or later.
+#define _WIN32_WINDOWS 0x0410 // Change this to the appropriate value to target Windows Me or later.
+#endif
+
+#ifndef _WIN32_IE			// Allow use of features specific to IE 6.0 or later.
+#define _WIN32_IE 0x0600	// Change this to the appropriate value to target other versions of IE.
+#endif
+
+#define WIN32_LEAN_AND_MEAN		// Exclude rarely-used stuff from Windows headers
+// Windows Header Files:
+#include <windows.h>
+#include <QWidget>
+#include <QMessageBox>
+#include <QProcess>
+#include <QImage>
+#include <QLabel>
+#include <QCoreApplication>
+#include <QSettings>
+#include <QIcon>
+#include <QHBoxLayout>
+#include <QTimer>
+#include <QPainter>
+#include <QPaintEvent>
\ No newline at end of file