Merge branch 'master' of github.com:opentrack/opentrack

Conflicts:
	facetracknoir/tracker.cpp
	ftnoir_filter_accela/ftnoir_filter_accela.cpp
	ftnoir_filter_accela/ftnoir_filter_accela.h
	ftnoir_filter_base/ftnoir_filter_base.h
	ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
	ftnoir_filter_ewma2/ftnoir_filter_ewma2.h

1 files changed, 529 insertions, 529 deletions

diff --git a/faceapi/main.cpp b/faceapi/main.cpp
index 9fe0af95..8128ee97 100644
--- a/faceapi/main.cpp
+++ b/faceapi/main.cpp
@@ -1,529 +1,529 @@
-/********************************************************************************

-* FaceTrackNoIR		This program is a private project of the some enthusiastic	*

-*					gamers from Holland, who don't like to pay much for			*

-*					head-tracking.												*

-*																				*

-* Copyright (C) 2013	Wim Vriend (Developing)									*

-*						Ron Hendriks (Researching and Testing)					*

-*																				*

-* Homepage																		*

-*																				*

-* This program is free software; you can redistribute it and/or modify it		*

-* under the terms of the GNU General Public License as published by the			*

-* Free Software Foundation; either version 3 of the License, or (at your		*

-* option) any later version.													*

-*																				*

-* This program is distributed in the hope that it will be useful, but			*

-* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY	*

-* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for	*

-* more details.																	*

-*																				*

-* You should have received a copy of the GNU General Public License along		*

-* with this program; if not, see <http://www.gnu.org/licenses/>.				*

-*********************************************************************************/

-

-//Precompiled header

-#include "stdafx.h"

-

-//FaceAPI headers

-#include <sm_api.h>

-#include "ftnoir_tracker_base/ftnoir_tracker_sm_types.h"

-#include "utils.h"

-#include <exception>

-

-//local headers

-#include "build_options.h"

-

-//namespaces

-using namespace std;

-using namespace sm::faceapi::samplecode;

-

-//

-// global variables

-//

-HANDLE					hSMMemMap = NULL;

-SMMemMap				*pMemData;

-HANDLE					hSMMutex;

-smEngineHeadPoseData	new_head_pose;

-bool					stopCommand = false;

-bool					ftnoirConnected = false;

-

-//enums

-enum GROUP_ID

-{

-    GROUP0=0,

-};

-

-enum EVENT_ID

-{

-	EVENT_PING=0,

-	EVENT_INIT,

-};

-

-enum INPUT_ID

-{

-    INPUT0=0,

-};

-

-//function definitions

-void	updateHeadPose(smEngineHeadPoseData* temp_head_pose);

-bool	SMCreateMapping();

-

-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-//

-//FaceAPI function implementations

-//

-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

-

-void STDCALL receiveLogMessage(void *, const char *buf, int /*buf_len*/)

-{

-    Lock lock(g_mutex); // serialize logging calls from different threads to avoid garbled output.

-    //cout << string(buf);

-}

-

-// Callback function for face-data

-void STDCALL receiveFaceData(void *, smEngineFaceData face_data, smCameraVideoFrame video_frame)

-{   

-    Lock lock(g_mutex);

-

-    // Get info including data pointer to original image from camera

-    smImageInfo video_frame_image_info;

-    THROW_ON_ERROR(smImageGetInfo(video_frame.image_handle, &video_frame_image_info)); // reentrant, so ok

-

-    // video_frame_image_info.plane_addr[*] now point to the image memory planes. 

-    // The memory is only valid until the end of this routine unless you call smImageAddRef(video_frame.image_handle).

-    // So you can deep copy the image data here, or use smImageAddRef() and just copy the pointer.

-    // If you use smImageAddRef() you are responsible for calling smImageDestroy() to avoid a memory leak later.

-

-    // In this callback you will typically want to copy the smEngineFaceData data into your own data-structure.

-    // Since the smEngineFaceData contains multiple pod types copying it is not atomic and 

-    // a mutex is required to avoid the race-condition with any thread simultaneously 

-    // reading from your data-structure.

-    // Such a race condition will not crash your code but will create weird noise in the tracking data.

-

-    if (g_do_face_data_printing)

-    {

-        //cout << video_frame << " " << face_data;

-

-        // Save any face texture to a PNG file

-        if (face_data.texture)

-        {

-            // Create a unique filename

-            std::stringstream filename;

-            filename << "face_" << video_frame.frame_num << ".png";        

-            // Try saving to a file

-            if (saveToPNGFile(filename.str(), face_data.texture->image_info) == SM_API_OK)

-            {

-                cout << "Saved face-texture to " << filename.str() << std::endl;

-            }

-            else

-            {

-                cout << "Error saving face-texture to " << filename.str() << std::endl;

-            }

-        }

-    }

-}

-

-// Callback function for head-pose

-void STDCALL receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVideoFrame video_frame)

-{

-    Lock lock(g_mutex);

-

-    // Get info including data pointer to original image from camera

-    smImageInfo video_frame_image_info;

-    THROW_ON_ERROR(smImageGetInfo(video_frame.image_handle, &video_frame_image_info)); // reentrant, so ok

-

-    // video_frame_image_info.plane_addr[*] now point to the image memory planes. 

-    // The memory is only valid until the end of this routine unless you call smImageAddRef(video_frame.image_handle).

-    // So you can deep copy the image data here, or use smImageAddRef() and just copy the pointer.

-    // If you use smImageAddRef() you are responsible for calling smImageDestroy() to avoid a memory leak later.

-

-    // In this callback you will typically want to copy the smEngineFaceData data into your own data-structure.

-    // Since the smEngineFaceData contains multiple pod types copying it is not atomic and 

-    // a mutex is required to avoid the race-condition with any thread simultaneously 

-    // reading from your data-structure.

-    // Such a race condition will not crash your code but will create weird noise in the tracking data.

-

-    if (g_do_head_pose_printing)

-    {

-        //cout << video_frame << " " << head_pose << std::endl;

-    }

-

-	//make a copy of the new head pose data and send it to simconnect

-	//when we get a simmconnect frame event the new offset will be applied to the camera

-	updateHeadPose(&head_pose);

-}

-

-// Create the first available camera detected on the system, and return its handle

-smCameraHandle createFirstCamera()

-{

-    // Detect cameras

-    smCameraInfoList info_list;

-    THROW_ON_ERROR(smCameraCreateInfoList(&info_list));

-

-    if (info_list.num_cameras == 0)

-    {

-        throw std::exception();

-    }

-    else

-    {

-        cout << "The followings cameras were detected: " << endl;

-        for (int i=0; i<info_list.num_cameras; ++i)

-        {

-            char buf[1024];

-            cout << "    " << i << ". Type: " << info_list.info[i].type;

-            THROW_ON_ERROR(smStringWriteBuffer(info_list.info[i].model,buf,1024));

-            cout << " Model: " << string(buf);

-            cout << " Instance: " << info_list.info[i].instance_index << endl;

-            // Print all the possible formats for the camera

-            for (int j=0; j<info_list.info[i].num_formats; j++)

-            {

-                smCameraVideoFormat video_format = info_list.info[i].formats[j];

-                cout << "     - Format: ";

-                cout << " res (" << video_format.res.w << "," << video_format.res.h << ")";

-                cout << " image code " << video_format.format;

-                cout << " framerate " << video_format.framerate << "(hz)";

-                cout << " upside-down? " << (video_format.is_upside_down ? "y":"n") << endl;

-            }

-        }

-    }

-

-    // Create the first camera detected on the system

-    smCameraHandle camera_handle = 0;

-    THROW_ON_ERROR(smCameraCreate(&info_list.info[0],   // Use first camera

-                                  0,                    // Use default settings for lens

-                                  &camera_handle));

-

-    // Destroy the info list

-    smCameraDestroyInfoList(&info_list);

-

-    return camera_handle;

-}

-

-// The main function: setup a tracking engine and show a video window, then loop on the keyboard.

-void run()

-{

-	int state;

-

-	// Capture control-C

-//    signal(SIGINT, CtrlCHandler);

-

-    // Make the console window a bit bigger (see utils.h)

-    initConsole();

-

-	#ifdef _DEBUG

-    // Log API debugging information to a file

-    THROW_ON_ERROR(smLoggingSetFileOutputEnable(SM_API_TRUE));

-

-    // Hook up log message callback

-    THROW_ON_ERROR(smLoggingRegisterCallback(0,receiveLogMessage));

-	#endif

-

-    // Get the version

-    int major, minor, maint;

-    THROW_ON_ERROR(smAPIVersion(&major, &minor, &maint));

-    cout << endl << "API VERSION: " << major << "." << minor << "." << maint << "." << endl << endl;

-    // Print detailed license info

-    char *buff;

-    int size;

-    THROW_ON_ERROR(smAPILicenseInfoString(0,&size,SM_API_TRUE));

-    buff = new char[size];

-    THROW_ON_ERROR(smAPILicenseInfoString(buff,&size,SM_API_TRUE));

-    cout << "LICENSE: " << buff << endl << endl;

-    // Determine if non-commercial restrictions apply

-    const bool non_commercial_license = smAPINonCommercialLicense() == SM_API_TRUE;

-

-    // Initialize the API

-    THROW_ON_ERROR(smAPIInit());

-

-	#ifdef _DEBUG

-    // Get the path to the logfile

-    smStringHandle logfile_path_handle = 0;

-    THROW_ON_ERROR(smStringCreate(&logfile_path_handle));

-    THROW_ON_ERROR(smLoggingGetPath(logfile_path_handle));

-    int buf_len = 0;

-    unsigned short *buf = 0;

-    THROW_ON_ERROR(smStringGetBufferW(logfile_path_handle,(wchar_t **)&buf,&buf_len));

-    wcout << "Writing log to file: " << wstring((wchar_t *)buf) << endl;

-    THROW_ON_ERROR(smStringDestroy(&logfile_path_handle));

-	#endif

-

-    // Register the WDM category of cameras

-    THROW_ON_ERROR(smCameraRegisterType(SM_API_CAMERA_TYPE_WDM));

-

-    smEngineHandle engine_handle = 0;

-    smCameraHandle camera_handle = 0;

-    if (non_commercial_license)

-    {

-        // Create a new Head-Tracker engine that uses the camera

-        THROW_ON_ERROR(smEngineCreate(SM_API_ENGINE_LATEST_HEAD_TRACKER,&engine_handle));

-    }

-    else

-    {

-        // Print out a list of connected cameras, and choose the first camera on the system

-        camera_handle = createFirstCamera();

-        // Create a new Head-Tracker engine that uses the camera

-        THROW_ON_ERROR(smEngineCreateWithCamera(SM_API_ENGINE_LATEST_HEAD_TRACKER,camera_handle,&engine_handle));

-    }

-

-    // Check license for particular engine version (always ok for non-commercial license)

-    const bool engine_licensed = smEngineIsLicensed(engine_handle) == SM_API_OK;

-

-    cout << "-----------------------------------------------------" << endl;

-    cout << "Press 'r' to restart tracking" << endl;

-    cout << "Press 'a' to toggle auto-restart mode" << endl;

-    if (!non_commercial_license)

-    {

-        cout << "Press 'l' to toggle lip-tracking" << endl;

-        cout << "Press 'e' to toggle eyebrow-tracking" << endl;

-    }

-    if (engine_licensed)

-    {

-        cout << "Press 'h' to toggle printing of head-pose data" << endl;

-        cout << "Press 'f' to toggle printing of face-landmark data" << endl;

-    }

-    cout << "Press '1' to toggle face coordinate frame axes" << endl;

-    cout << "Press '2' to toggle performance info" << endl;

-    cout << "Press '3' to toggle face mask" << endl;

-    cout << "Press '4' to toggle face landmarks" << endl;

-    cout << "Press CTRL-C or 'q' to quit" << endl;

-    cout << "-----------------------------------------------------" << endl;

-

-    // Hook up callbacks to receive output data from engine.

-    // These functions will return errors if the engine is not licensed.

-    if (engine_licensed)

-    {

-		#if (USE_HEADPOSE_CALLBACK==1)

-		#pragma message("Using Headpose Callback")

-        THROW_ON_ERROR(smHTRegisterHeadPoseCallback(engine_handle,0,receiveHeadPose));

-		#endif

-        if (!non_commercial_license)

-        {

-            THROW_ON_ERROR(smHTRegisterFaceDataCallback(engine_handle,0,receiveFaceData));

-        }

-    }

-    else

-    {

-        cout << "Engine is not licensed, cannot obtain any output data." << endl;

-    }

-

-    if (!non_commercial_license)

-    {

-        // Enable lip and eyebrow tracking

-        THROW_ON_ERROR(smHTSetLipTrackingEnabled(engine_handle,SM_API_TRUE));

-        THROW_ON_ERROR(smHTSetEyebrowTrackingEnabled(engine_handle,SM_API_TRUE));

-    }

-

-    // Create and show a video-display window

-	// Set the initial filter-level, from the INI-file

-	smVideoDisplayHandle video_display_handle = 0;

-	if (pMemData) {

-		THROW_ON_ERROR(smVideoDisplayCreate(engine_handle,&video_display_handle,(smWindowHandle) pMemData->handle,TRUE));

-		THROW_ON_ERROR(smHTV2SetHeadPoseFilterLevel(engine_handle, pMemData->initial_filter_level));

-		pMemData->handshake = 0;

-	}

-	else {

-		THROW_ON_ERROR(smVideoDisplayCreate(engine_handle,&video_display_handle,0,TRUE));

-	}

-

-    // Setup the VideoDisplay

-    THROW_ON_ERROR(smVideoDisplaySetFlags(video_display_handle,g_overlay_flags));

-

-    // Get the handle to the window and change the title to "Hello World"

-    smWindowHandle win_handle = 0;

-    THROW_ON_ERROR(smVideoDisplayGetWindowHandle(video_display_handle,&win_handle));    

-    SetWindowText(win_handle, _T("faceAPI Video-widget"));

-	MoveWindow(win_handle, 0, 0, 250, 180, true);

-

-    // Loop on the keyboard

-    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)

-		#pragma message("Polling Headpose Manually")

-		if (engine_licensed)

-		{

-			smEngineHeadPoseData head_pose;

-			Lock lock(g_mutex);

-			

-			THROW_ON_ERROR(smHTCurrentHeadPose(engine_handle,&head_pose));

-			if (g_do_head_pose_printing)

-			{

-				std::cout << head_pose << std::endl;

-			}

-

-		}

-		#endif

-

-        // NOTE: If you have a windows event loop in your program you 

-        // will not need to call smAPIProcessEvents(). This manually redraws the video window.

-        THROW_ON_ERROR(smAPIProcessEvents());

-

-        // Prevent CPU overload in our simple loop.

-        const int frame_period_ms = 10;

-        Sleep(frame_period_ms); 

-

-		//

-		// Process the command sent by FaceTrackNoIR.

-		//

-		if (ftnoirConnected && (pMemData != 0)) {

-

-			//

-			// Determine the trackers' state and send it to FaceTrackNoIR.

-			//

-			THROW_ON_ERROR(smEngineGetState(engine_handle, &state));

-			pMemData->state = state;

-			pMemData->handshake += 1;

-

-			//

-			// Check if FaceTrackNoIR is still 'in contact'.

-			// FaceTrackNoIR will reset the handshake, every time in writes data.

-			// If the value rises too high, this exe will stop itself...

-			//

-			if ( pMemData->handshake > 200) {

-				stopCommand = TRUE;

-			}

-

-			//

-			// Check if a command was issued and do something with it!

-			//

-			switch (pMemData->command) {

-				case FT_SM_START:

-

-					//

-					// Only execute Start, if the engine is not yet tracking.

-					//

-					if (state != SM_API_ENGINE_STATE_HT_TRACKING) {

-						THROW_ON_ERROR(smEngineStart(engine_handle));	// Start tracking

-					}

-					pMemData->command = 0;								// Reset

-					break;

-

-				case FT_SM_STOP:

-					THROW_ON_ERROR(smEngineStop(engine_handle));		// Stop tracking

-					pMemData->command = 0;								// Reset

-					break;

-

-				case FT_SM_EXIT:

-					THROW_ON_ERROR(smEngineStop(engine_handle));		// Stop tracking

-					stopCommand = TRUE;

-					pMemData->command = 0;								// Reset

-					pMemData->state = SM_API_ENGINE_STATE_TERMINATED;	// One last update, before quitting...

-					break;

-

-				case FT_SM_SET_PAR_FILTER:

-					THROW_ON_ERROR(smHTV2SetHeadPoseFilterLevel(engine_handle, pMemData->par_val_int));

-					pMemData->command = 0;								// Reset

-					break;

-

-				case FT_SM_SHOW_CAM:

-					THROW_ON_ERROR(smEngineShowCameraControlPanel(engine_handle));

-					pMemData->command = 0;								// Reset

-					break;

-

-				default:

-					pMemData->command = 0;								// Reset

-					// should never be reached

-				break;

-			}

-		}

-	}			// While(1)

-

-    // Destroy engine

-    THROW_ON_ERROR(smEngineDestroy(&engine_handle));

-    // Destroy video display

-    THROW_ON_ERROR(smVideoDisplayDestroy(&video_display_handle));

-

-	if (ftnoirConnected) {

-		if ( pMemData != NULL ) {

-			UnmapViewOfFile ( pMemData );

-		}

-		

-		if (hSMMutex != 0) {

-			CloseHandle( hSMMutex );

-		}

-		hSMMutex = 0;

-		

-		if (hSMMemMap != 0) {

-			CloseHandle( hSMMemMap );

-		}

-		hSMMemMap = 0;

-	}

-

-} // run()

-

-// Application entry point

-int _tmain(int /*argc*/, _TCHAR** /*argv*/)

-{

-	OutputDebugString(_T("_tmain() says: Starting Function\n"));

-

-	try

-    {

-		if (SMCreateMapping()) {

-			run();

-		}

-    }

-    catch (exception &e)

-    {

-        cerr << e.what() << endl;

-    }

-

-    return smAPIQuit();

-}

-

-//

-// This is called exactly once for each FaceAPI callback and must be within an exclusive lock

-//

-void updateHeadPose(smEngineHeadPoseData* temp_head_pose)

-{

-	//

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

-	//

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

-		

-		//

-		// Copy the Raw measurements directly to the client.

-		//

-		if (temp_head_pose->confidence > 0.0f)

-		{

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

-		}

-		ReleaseMutex(hSMMutex);

-	}

-};

-

-//

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

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

-//

-//

-bool SMCreateMapping()

-{

-	OutputDebugString(_T("FTCreateMapping says: Starting Function\n"));

-

-	//

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

-	// FaceTrackNoIR creates the mapping, this program only opens it.

-	// If it's not there: the program was apparently started by the user instead of FaceTrackNoIR...

-	//

-	// Open an existing FileMapping, Read/Write access

-	//

-	hSMMemMap = OpenFileMappingA( FILE_MAP_WRITE , false , (LPCSTR) SM_MM_DATA );

-	if ( ( hSMMemMap != 0 ) ) {

-		ftnoirConnected = true;

-		OutputDebugString(_T("FTCreateMapping says: FileMapping opened successfully...\n"));

-		pMemData = (SMMemMap *) MapViewOfFile(hSMMemMap, FILE_MAP_WRITE, 0, 0, sizeof(TFaceData));

-		if (pMemData != NULL) {

-			OutputDebugString(_T("FTCreateMapping says: MapViewOfFile OK.\n"));

-			pMemData->state = 0;

-		}

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

-	}

-	else {

-		OutputDebugString(_T("FTCreateMapping says: FileMapping not opened...FaceTrackNoIR not connected!\n"));

-		ftnoirConnected = false;

-		pMemData = 0;

-	}

-

-	return true;

-}

+/********************************************************************************
+* FaceTrackNoIR		This program is a private project of the some enthusiastic	*
+*					gamers from Holland, who don't like to pay much for			*
+*					head-tracking.												*
+*																				*
+* Copyright (C) 2013	Wim Vriend (Developing)									*
+*						Ron Hendriks (Researching and Testing)					*
+*																				*
+* Homepage																		*
+*																				*
+* This program is free software; you can redistribute it and/or modify it		*
+* under the terms of the GNU General Public License as published by the			*
+* Free Software Foundation; either version 3 of the License, or (at your		*
+* option) any later version.													*
+*																				*
+* This program is distributed in the hope that it will be useful, but			*
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY	*
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for	*
+* more details.																	*
+*																				*
+* You should have received a copy of the GNU General Public License along		*
+* with this program; if not, see <http://www.gnu.org/licenses/>.				*
+*********************************************************************************/
+
+//Precompiled header
+#include "stdafx.h"
+
+//FaceAPI headers
+#include <sm_api.h>
+#include "ftnoir_tracker_base/ftnoir_tracker_sm_types.h"
+#include "utils.h"
+#include <exception>
+
+//local headers
+#include "build_options.h"
+
+//namespaces
+using namespace std;
+using namespace sm::faceapi::samplecode;
+
+//
+// global variables
+//
+HANDLE					hSMMemMap = NULL;
+SMMemMap				*pMemData;
+HANDLE					hSMMutex;
+smEngineHeadPoseData	new_head_pose;
+bool					stopCommand = false;
+bool					ftnoirConnected = false;
+
+//enums
+enum GROUP_ID
+{
+    GROUP0=0,
+};
+
+enum EVENT_ID
+{
+	EVENT_PING=0,
+	EVENT_INIT,
+};
+
+enum INPUT_ID
+{
+    INPUT0=0,
+};
+
+//function definitions
+void	updateHeadPose(smEngineHeadPoseData* temp_head_pose);
+bool	SMCreateMapping();
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+//FaceAPI function implementations
+//
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void STDCALL receiveLogMessage(void *, const char *buf, int /*buf_len*/)
+{
+    Lock lock(g_mutex); // serialize logging calls from different threads to avoid garbled output.
+    //cout << string(buf);
+}
+
+// Callback function for face-data
+void STDCALL receiveFaceData(void *, smEngineFaceData face_data, smCameraVideoFrame video_frame)
+{   
+    Lock lock(g_mutex);
+
+    // Get info including data pointer to original image from camera
+    smImageInfo video_frame_image_info;
+    THROW_ON_ERROR(smImageGetInfo(video_frame.image_handle, &video_frame_image_info)); // reentrant, so ok
+
+    // video_frame_image_info.plane_addr[*] now point to the image memory planes. 
+    // The memory is only valid until the end of this routine unless you call smImageAddRef(video_frame.image_handle).
+    // So you can deep copy the image data here, or use smImageAddRef() and just copy the pointer.
+    // If you use smImageAddRef() you are responsible for calling smImageDestroy() to avoid a memory leak later.
+
+    // In this callback you will typically want to copy the smEngineFaceData data into your own data-structure.
+    // Since the smEngineFaceData contains multiple pod types copying it is not atomic and 
+    // a mutex is required to avoid the race-condition with any thread simultaneously 
+    // reading from your data-structure.
+    // Such a race condition will not crash your code but will create weird noise in the tracking data.
+
+    if (g_do_face_data_printing)
+    {
+        //cout << video_frame << " " << face_data;
+
+        // Save any face texture to a PNG file
+        if (face_data.texture)
+        {
+            // Create a unique filename
+            std::stringstream filename;
+            filename << "face_" << video_frame.frame_num << ".png";        
+            // Try saving to a file
+            if (saveToPNGFile(filename.str(), face_data.texture->image_info) == SM_API_OK)
+            {
+                cout << "Saved face-texture to " << filename.str() << std::endl;
+            }
+            else
+            {
+                cout << "Error saving face-texture to " << filename.str() << std::endl;
+            }
+        }
+    }
+}
+
+// Callback function for head-pose
+void STDCALL receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVideoFrame video_frame)
+{
+    Lock lock(g_mutex);
+
+    // Get info including data pointer to original image from camera
+    smImageInfo video_frame_image_info;
+    THROW_ON_ERROR(smImageGetInfo(video_frame.image_handle, &video_frame_image_info)); // reentrant, so ok
+
+    // video_frame_image_info.plane_addr[*] now point to the image memory planes. 
+    // The memory is only valid until the end of this routine unless you call smImageAddRef(video_frame.image_handle).
+    // So you can deep copy the image data here, or use smImageAddRef() and just copy the pointer.
+    // If you use smImageAddRef() you are responsible for calling smImageDestroy() to avoid a memory leak later.
+
+    // In this callback you will typically want to copy the smEngineFaceData data into your own data-structure.
+    // Since the smEngineFaceData contains multiple pod types copying it is not atomic and 
+    // a mutex is required to avoid the race-condition with any thread simultaneously 
+    // reading from your data-structure.
+    // Such a race condition will not crash your code but will create weird noise in the tracking data.
+
+    if (g_do_head_pose_printing)
+    {
+        //cout << video_frame << " " << head_pose << std::endl;
+    }
+
+	//make a copy of the new head pose data and send it to simconnect
+	//when we get a simmconnect frame event the new offset will be applied to the camera
+	updateHeadPose(&head_pose);
+}
+
+// Create the first available camera detected on the system, and return its handle
+smCameraHandle createFirstCamera()
+{
+    // Detect cameras
+    smCameraInfoList info_list;
+    THROW_ON_ERROR(smCameraCreateInfoList(&info_list));
+
+    if (info_list.num_cameras == 0)
+    {
+        throw std::exception();
+    }
+    else
+    {
+        cout << "The followings cameras were detected: " << endl;
+        for (int i=0; i<info_list.num_cameras; ++i)
+        {
+            char buf[1024];
+            cout << "    " << i << ". Type: " << info_list.info[i].type;
+            THROW_ON_ERROR(smStringWriteBuffer(info_list.info[i].model,buf,1024));
+            cout << " Model: " << string(buf);
+            cout << " Instance: " << info_list.info[i].instance_index << endl;
+            // Print all the possible formats for the camera
+            for (int j=0; j<info_list.info[i].num_formats; j++)
+            {
+                smCameraVideoFormat video_format = info_list.info[i].formats[j];
+                cout << "     - Format: ";
+                cout << " res (" << video_format.res.w << "," << video_format.res.h << ")";
+                cout << " image code " << video_format.format;
+                cout << " framerate " << video_format.framerate << "(hz)";
+                cout << " upside-down? " << (video_format.is_upside_down ? "y":"n") << endl;
+            }
+        }
+    }
+
+    // Create the first camera detected on the system
+    smCameraHandle camera_handle = 0;
+    THROW_ON_ERROR(smCameraCreate(&info_list.info[0],   // Use first camera
+                                  0,                    // Use default settings for lens
+                                  &camera_handle));
+
+    // Destroy the info list
+    smCameraDestroyInfoList(&info_list);
+
+    return camera_handle;
+}
+
+// The main function: setup a tracking engine and show a video window, then loop on the keyboard.
+void run()
+{
+	int state;
+
+	// Capture control-C
+//    signal(SIGINT, CtrlCHandler);
+
+    // Make the console window a bit bigger (see utils.h)
+    initConsole();
+
+	#ifdef _DEBUG
+    // Log API debugging information to a file
+    THROW_ON_ERROR(smLoggingSetFileOutputEnable(SM_API_TRUE));
+
+    // Hook up log message callback
+    THROW_ON_ERROR(smLoggingRegisterCallback(0,receiveLogMessage));
+	#endif
+
+    // Get the version
+    int major, minor, maint;
+    THROW_ON_ERROR(smAPIVersion(&major, &minor, &maint));
+    cout << endl << "API VERSION: " << major << "." << minor << "." << maint << "." << endl << endl;
+    // Print detailed license info
+    char *buff;
+    int size;
+    THROW_ON_ERROR(smAPILicenseInfoString(0,&size,SM_API_TRUE));
+    buff = new char[size];
+    THROW_ON_ERROR(smAPILicenseInfoString(buff,&size,SM_API_TRUE));
+    cout << "LICENSE: " << buff << endl << endl;
+    // Determine if non-commercial restrictions apply
+    const bool non_commercial_license = smAPINonCommercialLicense() == SM_API_TRUE;
+
+    // Initialize the API
+    THROW_ON_ERROR(smAPIInit());
+
+	#ifdef _DEBUG
+    // Get the path to the logfile
+    smStringHandle logfile_path_handle = 0;
+    THROW_ON_ERROR(smStringCreate(&logfile_path_handle));
+    THROW_ON_ERROR(smLoggingGetPath(logfile_path_handle));
+    int buf_len = 0;
+    unsigned short *buf = 0;
+    THROW_ON_ERROR(smStringGetBufferW(logfile_path_handle,(wchar_t **)&buf,&buf_len));
+    wcout << "Writing log to file: " << wstring((wchar_t *)buf) << endl;
+    THROW_ON_ERROR(smStringDestroy(&logfile_path_handle));
+	#endif
+
+    // Register the WDM category of cameras
+    THROW_ON_ERROR(smCameraRegisterType(SM_API_CAMERA_TYPE_WDM));
+
+    smEngineHandle engine_handle = 0;
+    smCameraHandle camera_handle = 0;
+    if (non_commercial_license)
+    {
+        // Create a new Head-Tracker engine that uses the camera
+        THROW_ON_ERROR(smEngineCreate(SM_API_ENGINE_LATEST_HEAD_TRACKER,&engine_handle));
+    }
+    else
+    {
+        // Print out a list of connected cameras, and choose the first camera on the system
+        camera_handle = createFirstCamera();
+        // Create a new Head-Tracker engine that uses the camera
+        THROW_ON_ERROR(smEngineCreateWithCamera(SM_API_ENGINE_LATEST_HEAD_TRACKER,camera_handle,&engine_handle));
+    }
+
+    // Check license for particular engine version (always ok for non-commercial license)
+    const bool engine_licensed = smEngineIsLicensed(engine_handle) == SM_API_OK;
+
+    cout << "-----------------------------------------------------" << endl;
+    cout << "Press 'r' to restart tracking" << endl;
+    cout << "Press 'a' to toggle auto-restart mode" << endl;
+    if (!non_commercial_license)
+    {
+        cout << "Press 'l' to toggle lip-tracking" << endl;
+        cout << "Press 'e' to toggle eyebrow-tracking" << endl;
+    }
+    if (engine_licensed)
+    {
+        cout << "Press 'h' to toggle printing of head-pose data" << endl;
+        cout << "Press 'f' to toggle printing of face-landmark data" << endl;
+    }
+    cout << "Press '1' to toggle face coordinate frame axes" << endl;
+    cout << "Press '2' to toggle performance info" << endl;
+    cout << "Press '3' to toggle face mask" << endl;
+    cout << "Press '4' to toggle face landmarks" << endl;
+    cout << "Press CTRL-C or 'q' to quit" << endl;
+    cout << "-----------------------------------------------------" << endl;
+
+    // Hook up callbacks to receive output data from engine.
+    // These functions will return errors if the engine is not licensed.
+    if (engine_licensed)
+    {
+		#if (USE_HEADPOSE_CALLBACK==1)
+		#pragma message("Using Headpose Callback")
+        THROW_ON_ERROR(smHTRegisterHeadPoseCallback(engine_handle,0,receiveHeadPose));
+		#endif
+        if (!non_commercial_license)
+        {
+            THROW_ON_ERROR(smHTRegisterFaceDataCallback(engine_handle,0,receiveFaceData));
+        }
+    }
+    else
+    {
+        cout << "Engine is not licensed, cannot obtain any output data." << endl;
+    }
+
+    if (!non_commercial_license)
+    {
+        // Enable lip and eyebrow tracking
+        THROW_ON_ERROR(smHTSetLipTrackingEnabled(engine_handle,SM_API_TRUE));
+        THROW_ON_ERROR(smHTSetEyebrowTrackingEnabled(engine_handle,SM_API_TRUE));
+    }
+
+    // Create and show a video-display window
+	// Set the initial filter-level, from the INI-file
+	smVideoDisplayHandle video_display_handle = 0;
+	if (pMemData) {
+		THROW_ON_ERROR(smVideoDisplayCreate(engine_handle,&video_display_handle,(smWindowHandle) pMemData->handle,TRUE));
+		THROW_ON_ERROR(smHTV2SetHeadPoseFilterLevel(engine_handle, pMemData->initial_filter_level));
+		pMemData->handshake = 0;
+	}
+	else {
+		THROW_ON_ERROR(smVideoDisplayCreate(engine_handle,&video_display_handle,0,TRUE));
+	}
+
+    // Setup the VideoDisplay
+    THROW_ON_ERROR(smVideoDisplaySetFlags(video_display_handle,g_overlay_flags));
+
+    // Get the handle to the window and change the title to "Hello World"
+    smWindowHandle win_handle = 0;
+    THROW_ON_ERROR(smVideoDisplayGetWindowHandle(video_display_handle,&win_handle));    
+    SetWindowText(win_handle, _T("faceAPI Video-widget"));
+	MoveWindow(win_handle, 0, 0, 250, 180, true);
+
+    // Loop on the keyboard
+    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)
+		#pragma message("Polling Headpose Manually")
+		if (engine_licensed)
+		{
+			smEngineHeadPoseData head_pose;
+			Lock lock(g_mutex);
+			
+			THROW_ON_ERROR(smHTCurrentHeadPose(engine_handle,&head_pose));
+			if (g_do_head_pose_printing)
+			{
+				std::cout << head_pose << std::endl;
+			}
+
+		}
+		#endif
+
+        // NOTE: If you have a windows event loop in your program you 
+        // will not need to call smAPIProcessEvents(). This manually redraws the video window.
+        THROW_ON_ERROR(smAPIProcessEvents());
+
+        // Prevent CPU overload in our simple loop.
+        const int frame_period_ms = 10;
+        Sleep(frame_period_ms); 
+
+		//
+		// Process the command sent by FaceTrackNoIR.
+		//
+		if (ftnoirConnected && (pMemData != 0)) {
+
+			//
+			// Determine the trackers' state and send it to FaceTrackNoIR.
+			//
+			THROW_ON_ERROR(smEngineGetState(engine_handle, &state));
+			pMemData->state = state;
+			pMemData->handshake += 1;
+
+			//
+			// Check if FaceTrackNoIR is still 'in contact'.
+			// FaceTrackNoIR will reset the handshake, every time in writes data.
+			// If the value rises too high, this exe will stop itself...
+			//
+			if ( pMemData->handshake > 200) {
+				stopCommand = TRUE;
+			}
+
+			//
+			// Check if a command was issued and do something with it!
+			//
+			switch (pMemData->command) {
+				case FT_SM_START:
+
+					//
+					// Only execute Start, if the engine is not yet tracking.
+					//
+					if (state != SM_API_ENGINE_STATE_HT_TRACKING) {
+						THROW_ON_ERROR(smEngineStart(engine_handle));	// Start tracking
+					}
+					pMemData->command = 0;								// Reset
+					break;
+
+				case FT_SM_STOP:
+					THROW_ON_ERROR(smEngineStop(engine_handle));		// Stop tracking
+					pMemData->command = 0;								// Reset
+					break;
+
+				case FT_SM_EXIT:
+					THROW_ON_ERROR(smEngineStop(engine_handle));		// Stop tracking
+					stopCommand = TRUE;
+					pMemData->command = 0;								// Reset
+					pMemData->state = SM_API_ENGINE_STATE_TERMINATED;	// One last update, before quitting...
+					break;
+
+				case FT_SM_SET_PAR_FILTER:
+					THROW_ON_ERROR(smHTV2SetHeadPoseFilterLevel(engine_handle, pMemData->par_val_int));
+					pMemData->command = 0;								// Reset
+					break;
+
+				case FT_SM_SHOW_CAM:
+					THROW_ON_ERROR(smEngineShowCameraControlPanel(engine_handle));
+					pMemData->command = 0;								// Reset
+					break;
+
+				default:
+					pMemData->command = 0;								// Reset
+					// should never be reached
+				break;
+			}
+		}
+	}			// While(1)
+
+    // Destroy engine
+    THROW_ON_ERROR(smEngineDestroy(&engine_handle));
+    // Destroy video display
+    THROW_ON_ERROR(smVideoDisplayDestroy(&video_display_handle));
+
+	if (ftnoirConnected) {
+		if ( pMemData != NULL ) {
+			UnmapViewOfFile ( pMemData );
+		}
+		
+		if (hSMMutex != 0) {
+			CloseHandle( hSMMutex );
+		}
+		hSMMutex = 0;
+		
+		if (hSMMemMap != 0) {
+			CloseHandle( hSMMemMap );
+		}
+		hSMMemMap = 0;
+	}
+
+} // run()
+
+// Application entry point
+int _tmain(int /*argc*/, _TCHAR** /*argv*/)
+{
+	OutputDebugString(_T("_tmain() says: Starting Function\n"));
+
+	try
+    {
+		if (SMCreateMapping()) {
+			run();
+		}
+    }
+    catch (exception &e)
+    {
+        cerr << e.what() << endl;
+    }
+
+    return smAPIQuit();
+}
+
+//
+// This is called exactly once for each FaceAPI callback and must be within an exclusive lock
+//
+void updateHeadPose(smEngineHeadPoseData* temp_head_pose)
+{
+	//
+	// Check if the pointer is OK and wait for the Mutex.
+	//
+	if ( (pMemData != NULL) && (WaitForSingleObject(hSMMutex, 100) == WAIT_OBJECT_0) ) {
+		
+		//
+		// Copy the Raw measurements directly to the client.
+		//
+		if (temp_head_pose->confidence > 0.0f)
+		{
+			memcpy(&pMemData->data.new_pose,temp_head_pose,sizeof(smEngineHeadPoseData));
+		}
+		ReleaseMutex(hSMMutex);
+	}
+};
+
+//
+// Create a memory-mapping to the faceAPI data.
+// It contains the tracking data, a command-code from FaceTrackNoIR
+//
+//
+bool SMCreateMapping()
+{
+	OutputDebugString(_T("FTCreateMapping says: Starting Function\n"));
+
+	//
+	// A FileMapping is used to create 'shared memory' between the faceAPI and FaceTrackNoIR.
+	// FaceTrackNoIR creates the mapping, this program only opens it.
+	// If it's not there: the program was apparently started by the user instead of FaceTrackNoIR...
+	//
+	// Open an existing FileMapping, Read/Write access
+	//
+	hSMMemMap = OpenFileMappingA( FILE_MAP_WRITE , false , (LPCSTR) SM_MM_DATA );
+	if ( ( hSMMemMap != 0 ) ) {
+		ftnoirConnected = true;
+		OutputDebugString(_T("FTCreateMapping says: FileMapping opened successfully...\n"));
+		pMemData = (SMMemMap *) MapViewOfFile(hSMMemMap, FILE_MAP_WRITE, 0, 0, sizeof(TFaceData));
+		if (pMemData != NULL) {
+			OutputDebugString(_T("FTCreateMapping says: MapViewOfFile OK.\n"));
+			pMemData->state = 0;
+		}
+	    hSMMutex = CreateMutexA(NULL, false, SM_MUTEX);
+	}
+	else {
+		OutputDebugString(_T("FTCreateMapping says: FileMapping not opened...FaceTrackNoIR not connected!\n"));
+		ftnoirConnected = false;
+		pMemData = 0;
+	}
+
+	return true;
+}