Merge branch 'unstable' into trackhat-ui

Sponsored-by: TrackHat

* unstable: (112 commits)
  Revert "accela: try more complex deadzone algorithm"
  pt: add wiki link for calibration instructions
  qfc: more gray colors when graph is disabled
  qfc, mapping: disallow editing and change color when checkbox disabled
  qfc: don't allow editing when disabled
  plugin-support: workaround multiple copies of modules
  accela: change translation gain
  accela: change rotation gain
  pt: change extraction code
  freepie-udp: add license
  freepie-udp: update
  accela: try more complex deadzone algorithm
  accela: add helpful comment
  accela: revert to more quadratic spline at start
  also save if save pending when start tracking
  ui: force saving if saving timer is pending
  accela: slightly more linear function
  pose-widget: simplify
  freepie-udp: nix harmless warning
  pose-widget: add comment
  simple-mat: add __restrict for GNU
  ui: save settings on a timer
  ui: show a warning if configuration directory can't be used
  aruco: tune min/max marker size
  win32-joystick: fix duplicate device name selection logic
  ui: no need to reset settings on tracking start
  ui: save profile when combobox text changes, not merely index
  ui: save current tracker/filter/proto, not last
  win32-joystick: fix COM failure path
  win32-joystick: nix unused variable
  win32-joystick: allow for unique selection of joysticks
  qfc: also draw line from function start while moving
  no need to save on tracking start anymore
  save axis opts, not just spline control points
  tracker: change centering order again
  fix typo
  cmake: don't say "opentrack" twice for osx build
  ui: really don't switch profiles while refreshing combobox
  pt: fix type mismatch
  ui: save prior to switching configs
  tracker_rs: adjusted tracker's name
  ui: don't reload settings if config wasn't changed
  ui: save everything before switching profiles
  options: return .ini basename easier
  tracker_rs: more readable icon
  tracker_rs: prevent potential thread starvation
  ui: switch to newly-created config
  ui: decruft
  ui: also bail on new config if its name is ".ini"
  ui: auto-refresh config list
  ui: display up to 20 profiles w/o scrolling
  ui: create an empty config properly in another code branch
  udp-tracker: silence harmless warning
  plugin-support: fix typo
  plugin-support: set more sane RTLD flags
  plugin-support: free modules from address space when needed
  ui: rename symbol to reflect current usage
  ui: move some slots to private
  ui, shortcuts: these are slots, actually
  ui: no need to write anything to new empty config
  ui: avoid potential memory leak
  ft: new game support
  game-data: chomp newlines in extractor
  ui: append extension in the right place
  simple-mat: fix arglist SFINAE
  simple-mat: can use static_cast here
  nix default empty config. it gets created on its own.
  ui: these aren't qt slots
  ui: nix wrong headers
  ui: remove GNU GPL
  ui: simplify condition
  props changed only
  main, ui: store config files in a predefined directory
  pt: show extracted points' areas and success count
  close dialogs on switch to new module
  ...

15 files changed, 536 insertions, 0 deletions

diff --git a/ftnoir_tracker_rs/README.md b/ftnoir_tracker_rs/README.md
new file mode 100644
index 00000000..5fca4392
--- /dev/null
+++ b/ftnoir_tracker_rs/README.md
@@ -0,0 +1,16 @@
+# Intel® RealSense™ plugin for opentrack
+This is a tracker providing markerless 3D head tracking using the Intel® RealSense™ SDK and the Intel® RealSense™ front-facing cameras. 
+
+More information on RealSense can be found on [Intel.com](http://www.intel.com/content/www/us/en/architecture-and-technology/realsense-overview.html)
+
+This tracker uses a separate process that gets data from the SDK. Its sources are under rs_impl and can be recompiled by calling build.bat, which depends on
+Microsoft Visual C++ Compiler and the [Intel® RealSense™ SDK R4](https://software.intel.com/en-us/intel-realsense-sdk)
+
+# ISC License
+Copyright (c) 2015, Intel Corporation
+
+  Author: Xavier Hallade <xavier.hallade@intel.com>
+  
+Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+
+THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp
new file mode 100644
index 00000000..12330fd2
--- /dev/null
+++ b/ftnoir_tracker_rs/ftnoir_tracker_rs.cpp
@@ -0,0 +1,113 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs.h"
+#include "ftnoir_tracker_rs_controls.h"
+
+#include "opentrack/plugin-api.hpp"
+#include <QMessageBox>
+
+RSTracker::RSTracker() : mPose{ 0,0,0, 0,0,0 } {
+    mThread.setObjectName("RSTrackerWorkerThread");
+
+    mRealSenseImplProcess.moveToThread(&mThread);
+    mSocket.moveToThread(&mThread);
+
+    connect(&mRealSenseImplProcess, SIGNAL(finished(int)),
+            this, SLOT(rsImplProcessFinished(int)), Qt::QueuedConnection);
+
+    qRegisterMetaType<QProcess::ProcessError>("QProcess::ProcessError");
+    connect(&mRealSenseImplProcess, SIGNAL(error(QProcess::ProcessError)),
+            this, SLOT(rsImplProcessError(QProcess::ProcessError)), Qt::QueuedConnection);
+
+    connect(&mSocket, SIGNAL(readyRead()),
+            this, SLOT(readPendingUdpPoseData()), Qt::DirectConnection);
+
+    connect(&mThread, &QThread::started,
+            &mThread, [this]{
+        mSocket.bind(QHostAddress::LocalHost, 4242, QUdpSocket::DontShareAddress);
+        mRealSenseImplProcess.start("opentrack-tracker-rs-impl.exe", QProcess::NotOpen);
+    }, Qt::DirectConnection);
+
+    connect(&mThread, &QThread::finished,
+            &mThread, [this]{
+        mRealSenseImplProcess.kill();
+        mRealSenseImplProcess.waitForFinished();
+    }, Qt::DirectConnection);
+}
+
+void RSTracker::start_tracker(QFrame*)
+{
+    mThread.start();
+}
+
+void RSTracker::readPendingUdpPoseData(){
+    double pose[6];
+
+    while(mSocket.hasPendingDatagrams()) {
+        mSocket.readDatagram((char*)pose, sizeof(pose));
+        {
+            QMutexLocker foo(&mMutex);
+            memcpy(mPose, pose, sizeof(pose));
+        }
+    }
+}
+
+void RSTracker::rsImplProcessError(QProcess::ProcessError error){
+    if(error == QProcess::FailedToStart){
+        QMessageBox::warning(NULL, "RealSense Tracking Error", "Couldn't start the RealSense tracking module.\nMaybe opentrack-tracker-rs-impl.exe is missing.", QMessageBox::Ok);
+    }
+    else if(error == QProcess::Crashed){
+        QMessageBox::warning(NULL, "RealSense Tracking Error", "The RealSense tracking module has crashed.", QMessageBox::Ok);
+    }
+}
+
+
+void RSTracker::rsImplProcessFinished(int exitCode){
+    if(exitCode!=0){
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText("RealSense Tracking Error");
+        if(exitCode==-101){ //The implementation got an invalid handle from the RealSense SDK session/modules
+            msgBox.setInformativeText("Couldn't initialize RealSense tracking. Please install SDK Runtime R4.");
+        }
+        else {
+            msgBox.setInformativeText("Status code: " + QString::number(exitCode) + ".\n\nNote that you need the latest camera drivers and the SDK runtime R4 to be installed.");
+        }
+        QPushButton* triggerSdkInstallation = msgBox.addButton("Install Runtime", QMessageBox::ActionRole);
+        msgBox.addButton(QMessageBox::Ok);
+        msgBox.exec();
+
+        if(msgBox.clickedButton() == triggerSdkInstallation){
+            bool pStarted = QProcess::startDetached("clientfiles\\intel_rs_sdk_runtime_websetup_6.0.21.6598.exe --finstall=core,face3d --fnone=all");
+            if(!pStarted){
+                QMessageBox::warning(0, "Intel® RealSense™ Runtime Installation", "Installation process failed to start.", QMessageBox::Ok);
+            }
+        }
+    }
+}
+
+void RSTracker::data(double *data)
+{
+    QMutexLocker foo(&mMutex);
+    memcpy(data, mPose, sizeof(mPose));
+}
+
+RSTracker::~RSTracker() {
+    mThread.quit();
+    mThread.wait();
+}
+
+QString RSTrackerMetaData::name() {
+    return QString("Intel® RealSense™ Technology");
+}
+
+QIcon RSTrackerMetaData::icon() {
+    return QIcon(":/images/intel-16x16.png");
+}
+
+OPENTRACK_DECLARE_TRACKER(RSTracker, RSTrackerControls, RSTrackerMetaData)
diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs.h b/ftnoir_tracker_rs/ftnoir_tracker_rs.h
new file mode 100644
index 00000000..7cda7370
--- /dev/null
+++ b/ftnoir_tracker_rs/ftnoir_tracker_rs.h
@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+ 
+#pragma once
+
+#include "ui_ftnoir_tracker_rs_controls.h"
+#include "opentrack/plugin-api.hpp"
+#include <QProcess>
+#include <QMutex>
+#include <QThread>
+#include <QUdpSocket>
+
+class RSTracker : protected QObject, public ITracker
+{
+    Q_OBJECT
+
+public:
+    RSTracker();
+    ~RSTracker();
+	void start_tracker(QFrame *) override;
+	void data(double *data) override;
+
+private:
+    QMutex mMutex;
+    QThread mThread;
+    QProcess mRealSenseImplProcess;
+    QUdpSocket mSocket;
+    double mPose[6];
+
+private slots:
+    void rsImplProcessError(QProcess::ProcessError);
+    void rsImplProcessFinished(int);
+    void readPendingUdpPoseData();
+
+};
+
+class RSTrackerMetaData : public Metadata
+{
+public:
+    QString name();
+    QIcon icon();
+};
diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.cpp b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.cpp
new file mode 100644
index 00000000..e5187bd1
--- /dev/null
+++ b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.cpp
@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs_controls.h"
+
+#include <QProcess>
+#include <QMessageBox>
+
+RSTrackerControls::RSTrackerControls()
+{
+    ui.setupUi(this);
+    connect(ui.triggerSDKInstallButton, SIGNAL(clicked(bool)), this, SLOT(doInstallRSRuntime()));
+    connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
+    connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
+}
+
+void RSTrackerControls::doInstallRSRuntime()
+{
+    bool processStarted = QProcess::startDetached("clientfiles\\intel_rs_sdk_runtime_websetup_6.0.21.6598.exe --finstall=core,face3d --fnone=all");
+    if(processStarted){
+        this->close();
+    }
+    else{
+        QMessageBox::warning(0, "Intel® RealSenseTM Runtime Installation", "Installation process failed to start.", QMessageBox::Ok);
+    }
+}
+
+void RSTrackerControls::doOK()
+{
+    this->close();
+}
+
+void RSTrackerControls::doCancel()
+{
+    this->close();
+}
diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.h b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.h
new file mode 100644
index 00000000..010dac99
--- /dev/null
+++ b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.h
@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs.h"
+
+class RSTrackerControls : public ITrackerDialog
+{
+    Q_OBJECT
+public:
+    RSTrackerControls();
+    void register_tracker(ITracker *) {}
+    void unregister_tracker() {}
+private:
+    Ui::UIRSControls ui;
+    private slots:
+    void doOK();
+    void doCancel();
+    void doInstallRSRuntime();
+};
diff --git a/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.ui b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.ui
new file mode 100644
index 00000000..834803d1
--- /dev/null
+++ b/ftnoir_tracker_rs/ftnoir_tracker_rs_controls.ui
@@ -0,0 +1,67 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UIRSControls</class>
+ <widget class="QWidget" name="UIRSControls">
+  <property name="windowModality">
+   <enum>Qt::NonModal</enum>
+  </property>
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>378</width>
+    <height>193</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>RealSense 3D Tracker settings</string>
+  </property>
+  <property name="windowIcon">
+   <iconset>
+    <normaloff>images/RS.png</normaloff>images/RS.png</iconset>
+  </property>
+  <property name="layoutDirection">
+   <enum>Qt::LeftToRight</enum>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>There is no configuration available at the moment.
+
+The application will activate your camera for face tracking by the
+Intel® RealSense™ SDK. By design, the application has no direct access
+to any camera images.
+
+In order to use this tracker, you need a PC equipped with
+an Intel® RealSense™ R200 camera and the RealSense™ SDK R4 runtime.</string>
+     </property>
+    </widget>
+   </item>
+   <item alignment="Qt::AlignHCenter|Qt::AlignVCenter">
+    <widget class="QPushButton" name="triggerSDKInstallButton">
+     <property name="text">
+      <string>Install SDK Runtime R4</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+ <slots>
+  <slot>startEngineClicked()</slot>
+  <slot>stopEngineClicked()</slot>
+  <slot>cameraSettingsClicked()</slot>
+ </slots>
+</ui>
diff --git a/ftnoir_tracker_rs/images/RS.png b/ftnoir_tracker_rs/images/RS.png
new file mode 100644
index 00000000..4ca11aac
--- /dev/null
+++ b/ftnoir_tracker_rs/images/RS.png
diff --git a/ftnoir_tracker_rs/images/intel-16x16.png b/ftnoir_tracker_rs/images/intel-16x16.png
new file mode 100644
index 00000000..e985ace1
--- /dev/null
+++ b/ftnoir_tracker_rs/images/intel-16x16.png
diff --git a/ftnoir_tracker_rs/redist/intel_rs_sdk_runtime_websetup_6.0.21.6598.exe b/ftnoir_tracker_rs/redist/intel_rs_sdk_runtime_websetup_6.0.21.6598.exe
new file mode 100644
index 00000000..34ecc9df
--- /dev/null
+++ b/ftnoir_tracker_rs/redist/intel_rs_sdk_runtime_websetup_6.0.21.6598.exe
diff --git a/ftnoir_tracker_rs/rs_impl/bin/opentrack-tracker-rs-impl.exe b/ftnoir_tracker_rs/rs_impl/bin/opentrack-tracker-rs-impl.exe
new file mode 100644
index 00000000..1e2a57f1
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/bin/opentrack-tracker-rs-impl.exe
diff --git a/ftnoir_tracker_rs/rs_impl/build.bat b/ftnoir_tracker_rs/rs_impl/build.bat
new file mode 100644
index 00000000..15206431
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/build.bat
@@ -0,0 +1,2 @@
+cd "%VS120COMNTOOLS%\..\..\VC"
+vcvarsall x64 && cd %~dp0 && CL /nologo /Ox /DUNICODE /D_UNICODE /MT /I"%RSSDK_DIR%\opensource\include" ftnoir_tracker_rs_impl.cpp udp_sender.cpp "%RSSDK_DIR%\opensource\src\libpxc\libpxc.cpp" /link ADVAPI32.LIB Ws2_32.lib /SUBSYSTEM:CONSOLE /OUT:bin\opentrack-tracker-rs-impl.exe 
\ No newline at end of file
diff --git a/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.cpp b/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.cpp
new file mode 100644
index 00000000..c1ba5c75
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.cpp
@@ -0,0 +1,151 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs_impl.h"
+#include <pxcsensemanager.h>
+#include <pxcfaceconfiguration.h>
+
+PXCSenseManager* g_senseManager = NULL;
+PXCFaceData* g_faceData = NULL;
+
+pxcStatus rs_tracker_set_configuration(PXCFaceModule *faceModule){
+	pxcStatus retStatus;
+	PXCFaceConfiguration *faceConfig = NULL;
+
+	if (faceModule == NULL)
+		return PXC_STATUS_HANDLE_INVALID;
+
+	faceConfig = faceModule->CreateActiveConfiguration();
+	if (faceConfig == NULL){
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	faceConfig->pose.isEnabled = true;
+	faceConfig->pose.maxTrackedFaces = 1;
+	faceConfig->pose.smoothingLevel = PXCFaceConfiguration::SmoothingLevelType::SMOOTHING_DISABLED;
+	faceConfig->strategy = PXCFaceConfiguration::STRATEGY_CLOSEST_TO_FARTHEST;
+	faceConfig->detection.isEnabled = false;
+	faceConfig->landmarks.isEnabled = false;
+	faceConfig->DisableAllAlerts();
+	faceConfig->SetTrackingMode(PXCFaceConfiguration::FACE_MODE_COLOR_PLUS_DEPTH);
+
+	retStatus = faceConfig->ApplyChanges();
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		faceConfig->Release();
+		return retStatus;
+	}
+
+	faceConfig->Release();
+	return PXC_STATUS_NO_ERROR;
+}
+
+int rs_tracker_impl_start(){
+	pxcStatus retStatus;
+	PXCFaceModule *faceModule = NULL;
+
+	g_senseManager = PXCSenseManager::CreateInstance();
+	if (g_senseManager == NULL){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	retStatus = g_senseManager->EnableFace();
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		rs_tracker_impl_end();
+		return retStatus;
+	}
+
+	faceModule = g_senseManager->QueryFace();
+	if (faceModule == NULL){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	retStatus = rs_tracker_set_configuration(faceModule);
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	retStatus = g_senseManager->Init();
+	if (retStatus != PXC_STATUS_NO_ERROR){
+		rs_tracker_impl_end();
+		return retStatus;
+	}
+
+	g_faceData = faceModule->CreateOutput();
+	if (g_faceData == NULL){
+		rs_tracker_impl_end();
+		return PXC_STATUS_HANDLE_INVALID;
+	}
+
+	return PXC_STATUS_NO_ERROR;
+}
+
+int rs_tracker_impl_update_pose(double *data){
+	pxcStatus retStatus;
+	PXCFaceData::PoseEulerAngles angles;
+	PXCFaceData::HeadPosition headPosition;
+	PXCFaceData::Face *face = NULL;
+	PXCFaceData::PoseData *pose = NULL;
+	bool poseAnglesAvailable = false;
+	bool headPositionAvailable = false;
+
+	if (g_senseManager != NULL && g_faceData != NULL
+                && (retStatus = g_senseManager->AcquireFrame(true, 16)) == PXC_STATUS_NO_ERROR){
+
+		retStatus = g_faceData->Update();
+		if (retStatus != PXC_STATUS_NO_ERROR){
+			rs_tracker_impl_end();
+			return retStatus;
+		}
+
+		pxcI32 numberOfDetectedFaces = g_faceData->QueryNumberOfDetectedFaces();
+		for (pxcI32 i = 0; i < numberOfDetectedFaces; ++i) {
+			face = g_faceData->QueryFaceByIndex(0);
+			if (face == NULL) continue;
+
+			pose = face->QueryPose();
+			if (pose == NULL) continue;
+
+			poseAnglesAvailable = pose->QueryPoseAngles(&angles);
+			if (!poseAnglesAvailable) continue;
+
+			headPositionAvailable = pose->QueryHeadPosition(&headPosition);
+			if (!headPositionAvailable) continue;
+
+			//TODO: use pxcI32 pose->QueryConfidence(); ? for data[6] or to filter here ?
+
+			//x, y, z: cm
+			data[0] = headPosition.headCenter.x / 10.;
+			data[1] = headPosition.headCenter.y / 10.;
+			data[2] = headPosition.headCenter.z / 10.;
+
+			//yaw, pitch, roll: degrees
+			data[3] = -angles.yaw;
+			data[4] = angles.pitch;
+			data[5] = -angles.roll;
+		}
+
+		g_senseManager->ReleaseFrame();
+	}
+
+        return retStatus;
+}
+
+int rs_tracker_impl_end(){
+	if (g_faceData != NULL){
+		g_faceData->Release();
+		g_faceData = NULL;
+	}
+
+	if (g_senseManager != NULL){
+		g_senseManager->Release();
+		g_senseManager = NULL;
+	}
+	return PXC_STATUS_NO_ERROR;
+}
diff --git a/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.h b/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.h
new file mode 100644
index 00000000..0e4073d0
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/ftnoir_tracker_rs_impl.h
@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#pragma once
+#ifdef EXPORT_RS_IMPL
+#define RSTRACKERIMPL_VISIBILITY   __declspec( dllexport ) 
+#else
+#define RSTRACKERIMPL_VISIBILITY  
+#endif
+
+extern "C" {                
+    RSTRACKERIMPL_VISIBILITY int rs_tracker_impl_start();
+    RSTRACKERIMPL_VISIBILITY int rs_tracker_impl_update_pose(double *pose);
+    RSTRACKERIMPL_VISIBILITY int rs_tracker_impl_end();
+}
diff --git a/ftnoir_tracker_rs/rs_impl/udp_sender.cpp b/ftnoir_tracker_rs/rs_impl/udp_sender.cpp
new file mode 100644
index 00000000..095edd8f
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_impl/udp_sender.cpp
@@ -0,0 +1,53 @@
+/*
+ * Copyright (c) 2015, Intel Corporation
+ *   Author: Xavier Hallade <xavier.hallade@intel.com>
+ * Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted, provided that the above copyright notice and this permission notice appear in all copies.
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include "ftnoir_tracker_rs_impl.h"
+#include <winsock2.h>
+#include <Ws2tcpip.h>
+#include <commctrl.h>
+#include <cstdlib>
+
+#define UDP_PORT 4242
+
+int main(){
+    double pose[6] = { 0., 0., 0., 0., 0., 0. };
+    struct sockaddr_in socketInfo;
+    SOCKET s = 0;
+    WSADATA wsa;
+
+    int retStatus = rs_tracker_impl_start();
+    if (retStatus != 0){
+        exit(retStatus);
+    }
+
+    if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) //init winsocketapi
+        exit(EXIT_FAILURE);
+
+    memset(&socketInfo, 0, sizeof(socketInfo));
+    socketInfo.sin_family = AF_INET;
+    socketInfo.sin_port = htons(UDP_PORT);
+    InetPton(AF_INET, L"127.0.0.1", &socketInfo.sin_addr.S_un.S_addr);
+
+    if ((s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == SOCKET_ERROR) //create UDP socket
+        exit(EXIT_FAILURE);
+
+    for(;;) {
+        retStatus = rs_tracker_impl_update_pose(pose);
+        if(retStatus == 0){ //no error
+            if (sendto(s, (char*)&pose, sizeof(pose), 0, (struct sockaddr *) &socketInfo, sizeof(socketInfo)) == SOCKET_ERROR) //send new data
+                exit(EXIT_FAILURE);
+        }
+
+        if(retStatus != 0 && retStatus != -303)// -303=timeout and 0 are ok, else we've got to stop.
+            break;
+    }
+
+    closesocket(s);
+    WSACleanup();
+
+    return retStatus;
+}
diff --git a/ftnoir_tracker_rs/rs_tracker.qrc b/ftnoir_tracker_rs/rs_tracker.qrc
new file mode 100644
index 00000000..155a5bd1
--- /dev/null
+++ b/ftnoir_tracker_rs/rs_tracker.qrc
@@ -0,0 +1,6 @@
+<RCC>
+    <qresource prefix="/">
+        <file>images/RS.png</file>
+        <file>images/intel-16x16.png</file>
+    </qresource>
+</RCC>