From acb3d9bea36665b4ad60949a1534c39c6a8a3666 Mon Sep 17 00:00:00 2001
From: Thomas Pietrzak <thomas.pietrzak@gmail.com>
Date: Fri, 15 Feb 2013 14:01:57 +0000
Subject: [PATCH] Initial import tactile pictures and Immersion touchscreen
 demo

git-svn-id: svn+ssh://thomaspietrzak.com/var/svn/rep@104 47cf9a05-e0a8-4ed5-9e9b-101a649bc004
---
 .../GeneratedFiles/qrc_dwellcursor.cpp        |   2 +-
 .../GeneratedFiles/ui_ExperimentSetup.h       |   2 +-
 DwellCursor/GeneratedFiles/ui_dwellcursor.h   |   2 +-
 PushButtons/KinectInput.cpp                   |  15 +-
 PushButtons/KinectInput.h                     |   4 +
 PushButtons/OneEuroFilter.cpp                 | 118 ++++++
 PushButtons/OneEuroFilter.h                   |  62 ++++
 TactileButtons.sln                            |  12 +
 TactileButtons.suo                            | Bin 79360 -> 102400 bytes
 TactileFluids/KinectInput.cpp                 |  15 +-
 TactileFluids/KinectInput.h                   |   4 +
 TactileFluids/OneEuroFilter.cpp               |   7 +-
 TactileFluids/OneEuroFilter.h                 |   2 +-
 TactileFluids/TactileFluids.vcxproj           |   2 +-
 TactileFluids/tactilefluids.ui                |   2 +-
 TactilePictures/Canvas.cpp                    | 286 ++++++++++++++
 TactilePictures/Canvas.h                      |  79 ++++
 TactilePictures/Canvas.ui                     | 326 ++++++++++++++++
 TactilePictures/ImageDemo.cpp                 | 300 +++++++++++++++
 TactilePictures/ImageDemo.h                   |  81 ++++
 TactilePictures/ImageDemo.ui                  | 351 ++++++++++++++++++
 TactilePictures/KinectInput.cpp               | 108 ++++++
 TactilePictures/KinectInput.h                 |  33 ++
 TactilePictures/OneEuroFilter.cpp             | 118 ++++++
 TactilePictures/OneEuroFilter.h               |  62 ++++
 TactilePictures/PictureView.cpp               |  25 ++
 TactilePictures/PictureView.h                 |  25 ++
 TactilePictures/TactilePictures.vcxproj       | 242 ++++++++++++
 TactilePictures/images/00-VH07.PNG            | Bin 0 -> 7617 bytes
 TactilePictures/images/00-VS07.PNG            | Bin 0 -> 6514 bytes
 TactilePictures/images/01-VH03.PNG            | Bin 0 -> 6212 bytes
 TactilePictures/images/01-VS03.PNG            | Bin 0 -> 5648 bytes
 TactilePictures/images/02-VH01.PNG            | Bin 0 -> 5020 bytes
 TactilePictures/images/02-VS01.PNG            | Bin 0 -> 4963 bytes
 TactilePictures/images/03-OH07.PNG            | Bin 0 -> 17501 bytes
 TactilePictures/images/03-OS07.PNG            | Bin 0 -> 15277 bytes
 TactilePictures/images/10-BW-eiffel.png       | Bin 0 -> 104921 bytes
 TactilePictures/images/11-BW-patterns.png     | Bin 0 -> 62473 bytes
 TactilePictures/images/20-BW-teapot.png       | Bin 0 -> 161187 bytes
 TactilePictures/images/21-BW-teapot.png       | Bin 0 -> 138276 bytes
 TactilePictures/images/22-BW-teapot.png       | Bin 0 -> 53312 bytes
 TactilePictures/images/23-BW-teapot.data.png  | Bin 0 -> 53312 bytes
 TactilePictures/images/23-BW-teapot.png       | Bin 0 -> 138276 bytes
 TactilePictures/images/30-BW-map.png          | Bin 0 -> 36046 bytes
 TactilePictures/images/31-BW-map.data.png     | Bin 0 -> 23308 bytes
 TactilePictures/images/31-BW-map.png          | Bin 0 -> 36046 bytes
 TactilePictures/main.cpp                      |  29 ++
 TactilePictures/pixelbased.cpp                | 164 ++++++++
 TactilePictures/tactilepictures.cpp           |  24 ++
 TactilePictures/tactilepictures.h             |  27 ++
 TactilePictures/tactilepictures.ui            |  90 +++++
 TouchscreenButton/TouchscreenButton.cpp       |  39 ++
 TouchscreenButton/TouchscreenButton.h         |  27 ++
 TouchscreenButton/TouchscreenButton.vcxproj   | 161 ++++++++
 .../USBHIDImmersionTouchscreen.cpp            |  48 +++
 .../USBHIDImmersionTouchscreen.h              |  29 ++
 TouchscreenButton/Wristband.cpp               |  37 ++
 TouchscreenButton/Wristband.h                 |  25 ++
 TouchscreenButton/main.cpp                    |  10 +
 TouchscreenButton/touchscreenbutton.ui        |  85 +++++
 60 files changed, 3067 insertions(+), 13 deletions(-)
 create mode 100644 PushButtons/OneEuroFilter.cpp
 create mode 100644 PushButtons/OneEuroFilter.h
 create mode 100644 TactilePictures/Canvas.cpp
 create mode 100644 TactilePictures/Canvas.h
 create mode 100644 TactilePictures/Canvas.ui
 create mode 100644 TactilePictures/ImageDemo.cpp
 create mode 100644 TactilePictures/ImageDemo.h
 create mode 100644 TactilePictures/ImageDemo.ui
 create mode 100644 TactilePictures/KinectInput.cpp
 create mode 100644 TactilePictures/KinectInput.h
 create mode 100644 TactilePictures/OneEuroFilter.cpp
 create mode 100644 TactilePictures/OneEuroFilter.h
 create mode 100644 TactilePictures/PictureView.cpp
 create mode 100644 TactilePictures/PictureView.h
 create mode 100644 TactilePictures/TactilePictures.vcxproj
 create mode 100644 TactilePictures/images/00-VH07.PNG
 create mode 100644 TactilePictures/images/00-VS07.PNG
 create mode 100644 TactilePictures/images/01-VH03.PNG
 create mode 100644 TactilePictures/images/01-VS03.PNG
 create mode 100644 TactilePictures/images/02-VH01.PNG
 create mode 100644 TactilePictures/images/02-VS01.PNG
 create mode 100644 TactilePictures/images/03-OH07.PNG
 create mode 100644 TactilePictures/images/03-OS07.PNG
 create mode 100644 TactilePictures/images/10-BW-eiffel.png
 create mode 100644 TactilePictures/images/11-BW-patterns.png
 create mode 100644 TactilePictures/images/20-BW-teapot.png
 create mode 100644 TactilePictures/images/21-BW-teapot.png
 create mode 100644 TactilePictures/images/22-BW-teapot.png
 create mode 100644 TactilePictures/images/23-BW-teapot.data.png
 create mode 100644 TactilePictures/images/23-BW-teapot.png
 create mode 100644 TactilePictures/images/30-BW-map.png
 create mode 100644 TactilePictures/images/31-BW-map.data.png
 create mode 100644 TactilePictures/images/31-BW-map.png
 create mode 100644 TactilePictures/main.cpp
 create mode 100644 TactilePictures/pixelbased.cpp
 create mode 100644 TactilePictures/tactilepictures.cpp
 create mode 100644 TactilePictures/tactilepictures.h
 create mode 100644 TactilePictures/tactilepictures.ui
 create mode 100644 TouchscreenButton/TouchscreenButton.cpp
 create mode 100644 TouchscreenButton/TouchscreenButton.h
 create mode 100644 TouchscreenButton/TouchscreenButton.vcxproj
 create mode 100644 TouchscreenButton/USBHIDImmersionTouchscreen.cpp
 create mode 100644 TouchscreenButton/USBHIDImmersionTouchscreen.h
 create mode 100644 TouchscreenButton/Wristband.cpp
 create mode 100644 TouchscreenButton/Wristband.h
 create mode 100644 TouchscreenButton/main.cpp
 create mode 100644 TouchscreenButton/touchscreenbutton.ui

diff --git a/DwellCursor/GeneratedFiles/qrc_dwellcursor.cpp b/DwellCursor/GeneratedFiles/qrc_dwellcursor.cpp
index 913cbe3..e5cc9d1 100644
--- a/DwellCursor/GeneratedFiles/qrc_dwellcursor.cpp
+++ b/DwellCursor/GeneratedFiles/qrc_dwellcursor.cpp
@@ -1,7 +1,7 @@
 /****************************************************************************
 ** Resource object code
 **
-** Created: Wed 1. Aug 17:16:43 2012
+** Created: Mon 28. Jan 16:21:26 2013
 **      by: The Resource Compiler for Qt version 4.8.2
 **
 ** WARNING! All changes made in this file will be lost!
diff --git a/DwellCursor/GeneratedFiles/ui_ExperimentSetup.h b/DwellCursor/GeneratedFiles/ui_ExperimentSetup.h
index 8513b83..cbc427d 100644
--- a/DwellCursor/GeneratedFiles/ui_ExperimentSetup.h
+++ b/DwellCursor/GeneratedFiles/ui_ExperimentSetup.h
@@ -1,7 +1,7 @@
 /********************************************************************************
 ** Form generated from reading UI file 'ExperimentSetup.ui'
 **
-** Created: Wed 1. Aug 17:16:43 2012
+** Created: Mon 28. Jan 16:21:26 2013
 **      by: Qt User Interface Compiler version 4.8.2
 **
 ** WARNING! All changes made in this file will be lost when recompiling UI file!
diff --git a/DwellCursor/GeneratedFiles/ui_dwellcursor.h b/DwellCursor/GeneratedFiles/ui_dwellcursor.h
index 5f9f9ff..79bbb94 100644
--- a/DwellCursor/GeneratedFiles/ui_dwellcursor.h
+++ b/DwellCursor/GeneratedFiles/ui_dwellcursor.h
@@ -1,7 +1,7 @@
 /********************************************************************************
 ** Form generated from reading UI file 'dwellcursor.ui'
 **
-** Created: Wed 1. Aug 17:16:42 2012
+** Created: Mon 28. Jan 16:21:22 2013
 **      by: Qt User Interface Compiler version 4.8.2
 **
 ** WARNING! All changes made in this file will be lost when recompiling UI file!
diff --git a/PushButtons/KinectInput.cpp b/PushButtons/KinectInput.cpp
index 15bcd9d..9fc8f37 100644
--- a/PushButtons/KinectInput.cpp
+++ b/PushButtons/KinectInput.cpp
@@ -1,11 +1,12 @@
 #include "KinectInput.h"
 
 #include <QDebug>
+#include <QDateTime>
 
 #define TIMEOUT 100
 
 KinectInput::KinectInput()
-:_running(false), _skeletonid(-1)
+:_running(false), _skeletonid(-1), _skeletonEvent(NULL), _xfilter(50, 0.05), _yfilter(50, 0.05), _zfilter(50, 0.01)
 {
 	//creates the kinect sensor (id 0)
 	if(FAILED(NuiCreateSensorByIndex(0, &_kinect)))
@@ -76,8 +77,9 @@ void KinectInput::run()
 /*		if (data.eTrackingState != NUI_SKELETON_TRACKED)
 			continue;*/
 
+		//Let's use the 1 euro instead, see below
 		//smooth out the skeleton data
-		_kinect->NuiTransformSmooth(&SkeletonFrame, NULL);
+		//_kinect->NuiTransformSmooth(&SkeletonFrame, NULL);
 
 
 		if (data.eSkeletonPositionTrackingState[NUI_SKELETON_POSITION_HAND_RIGHT] == NUI_SKELETON_NOT_TRACKED)
@@ -88,7 +90,14 @@ void KinectInput::run()
 			NuiTransformSkeletonToDepthImageF(data.SkeletonPositions[NUI_SKELETON_POSITION_HAND_RIGHT], &posx, &posy);
 			emit rightHandMove(posx, posy,0);*/
 			Vector4 &skelpos = data.SkeletonPositions[NUI_SKELETON_POSITION_HAND_RIGHT];
-			emit rightHandMove(skelpos.x, skelpos.y, skelpos.z);
+
+			//Filter
+			int timestamp = QDateTime::currentMSecsSinceEpoch();
+			float fx = _xfilter.filter(skelpos.x, timestamp);
+			float fy = _yfilter.filter(skelpos.y, timestamp);
+			float fz = _zfilter.filter(skelpos.z, timestamp);
+
+			emit rightHandMove(fx, fy, fz);
         }
 	}
 }
diff --git a/PushButtons/KinectInput.h b/PushButtons/KinectInput.h
index b4bf077..855fb7b 100644
--- a/PushButtons/KinectInput.h
+++ b/PushButtons/KinectInput.h
@@ -6,6 +6,8 @@
 #include <Windows.h>
 #include <NuiAPI.h>
 
+#include "OneEuroFilter.h"
+
 class KinectInput: public QThread
 {
 	Q_OBJECT
@@ -22,6 +24,8 @@ class KinectInput: public QThread
 		bool _running;
 		int _skeletonid;
 
+		OneEuroFilter _xfilter, _yfilter, _zfilter;
+
 	signals:
 		void rightHandMove(float x, float y, float z);
 };
diff --git a/PushButtons/OneEuroFilter.cpp b/PushButtons/OneEuroFilter.cpp
new file mode 100644
index 0000000..ee1754c
--- /dev/null
+++ b/PushButtons/OneEuroFilter.cpp
@@ -0,0 +1,118 @@
+#include "OneEuroFilter.h"
+
+#define _USE_MATH_DEFINES 
+#include <cmath>
+#include <stdexcept>
+
+LowPassFilter::LowPassFilter(double alpha, double initval) 
+:_y(initval), _s(initval), _initialized(false)
+{
+	setAlpha(alpha);
+}
+
+double LowPassFilter::filter(double value) 
+{
+	double result;
+	if (_initialized)
+		result = _a * value + (1.0 - _a) * _s;
+	else 
+	{
+		result = value;
+		_initialized = true;
+	}
+	_y = value;
+	_s = result;
+	return result;
+}
+
+double LowPassFilter::filterWithAlpha(double value, double alpha) 
+{
+	setAlpha(alpha);
+	return filter(value);
+}
+
+bool LowPassFilter::hasLastRawValue(void) 
+{
+	return _initialized;
+}
+
+double LowPassFilter::lastRawValue(void) 
+{
+	return _y ;
+}
+
+void LowPassFilter::setAlpha(double alpha) 
+{
+	if (alpha <= 0.0 || alpha > 1.0) 
+		throw std::range_error("alpha should be in ]0.0., 1.0]");
+	_a = alpha;
+}
+
+
+OneEuroFilter::OneEuroFilter(double freq, double mincutoff, double beta, double dcutoff)
+:_lasttime(UndefinedTime)
+{
+		setFrequency(freq);
+
+		//don't do this earlier, frequency is required to compute alpha
+		_x = new LowPassFilter(alpha(mincutoff));
+		_dx = new LowPassFilter(alpha(dcutoff));
+
+		setMinCutoff(mincutoff);
+		setBeta(beta);
+		setDerivateCutoff(dcutoff);
+}
+
+OneEuroFilter::~OneEuroFilter(void) 
+{
+	delete _x;
+	delete _dx;
+}
+
+double OneEuroFilter::filter(double value, TimeStamp timestamp) 
+{
+	// update the sampling frequency based on timestamps
+	if (_lasttime != UndefinedTime && timestamp != UndefinedTime)
+		_freq = 1.0 / (timestamp - _lasttime);
+	_lasttime = timestamp;
+	// estimate the current variation per second 
+	double dvalue = _x->hasLastRawValue() ? (value - _x->lastRawValue()) * _freq : 0.0; // FIXME: 0.0 or value?
+	double edvalue = _dx->filterWithAlpha(dvalue, alpha(_dcutoff));
+	// use it to update the cutoff frequency
+	double cutoff = _mincutoff + _beta * fabs(edvalue);
+	// filter the given value
+	return _x->filterWithAlpha(value, alpha(cutoff));
+}
+
+double OneEuroFilter::alpha(double cutoff) 
+{
+	double te = 1.0 / _freq;
+	double tau = 1.0 / (2 * M_PI * cutoff);
+	return 1.0 / (1.0 + tau/te);
+}
+
+void OneEuroFilter::setFrequency(double f) 
+{
+	if (f <= 0) 
+		throw std::range_error("freq should be >0");
+	_freq = f;
+}
+
+void OneEuroFilter::setMinCutoff(double mc) 
+{
+	if (mc <= 0) 
+		throw std::range_error("mincutoff should be >0");
+	_mincutoff = mc;
+}
+
+void OneEuroFilter::setBeta(double b) 
+{
+	_beta = b;
+}
+
+void OneEuroFilter::setDerivateCutoff(double dc) 
+{
+	if (dc <= 0) 
+		throw std::range_error("dcutoff should be >0");
+	_dcutoff = dc;
+}
diff --git a/PushButtons/OneEuroFilter.h b/PushButtons/OneEuroFilter.h
new file mode 100644
index 0000000..7d24ffa
--- /dev/null
+++ b/PushButtons/OneEuroFilter.h
@@ -0,0 +1,62 @@
+/*
+ * OneEuroFilter.h/.cpp -
+ *
+ * Author: Thomas Pietrzak (thomas.pietrzak@lifl.fr)
+ * based on code from
+ * Nicolas Roussel (nicolas.roussel@inria.fr)
+ *
+ */
+
+
+#ifndef __ONEEURO__
+#define __ONEEURO__
+
+
+typedef double TimeStamp ; // in seconds
+
+static const TimeStamp UndefinedTime = -1.0 ;
+
+
+class LowPassFilter 
+{
+	public:
+		LowPassFilter(double alpha, double initval=0.0);
+
+		double filterWithAlpha(double value, double alpha);
+		inline bool hasLastRawValue(void);
+		inline double lastRawValue(void);
+
+	private:
+		double _y, _a, _s;
+		bool _initialized;
+
+		void setAlpha(double alpha);
+		double filter(double value);
+} ;
+
+class OneEuroFilter 
+{
+	public:
+		OneEuroFilter(
+			double freq, 
+			double mincutoff=1.0, 
+			double beta_=0.0, 
+			double dcutoff=1.0);
+	
+		~OneEuroFilter();
+
+		double filter(double value, TimeStamp timestamp=UndefinedTime);
+
+	private:
+		double _freq, _mincutoff, _beta, _dcutoff;
+		LowPassFilter *_x, *_dx;
+		TimeStamp _lasttime;
+
+		double alpha(double cutoff);
+		inline void setFrequency(double f);
+		inline void setMinCutoff(double mc);
+		inline void setBeta(double b);
+		inline void setDerivateCutoff(double dc);
+} ;
+
+#endif
diff --git a/TactileButtons.sln b/TactileButtons.sln
index b12eb95..4ac9046 100644
--- a/TactileButtons.sln
+++ b/TactileButtons.sln
@@ -7,6 +7,10 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DwellCursor", "DwellCursor\
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TactileFluids", "TactileFluids\TactileFluids.vcxproj", "{014A41B9-3E4D-48F0-B5D7-8C6FE42A142E}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TactilePictures", "TactilePictures\TactilePictures.vcxproj", "{B219D272-E4C1-46D8-9263-3B4462606CC6}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TouchscreenButton", "TouchscreenButton\TouchscreenButton.vcxproj", "{3484A961-9B00-4197-85ED-99303909089C}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Win32 = Debug|Win32
@@ -25,6 +29,14 @@ Global
 		{014A41B9-3E4D-48F0-B5D7-8C6FE42A142E}.Debug|Win32.Build.0 = Debug|Win32
 		{014A41B9-3E4D-48F0-B5D7-8C6FE42A142E}.Release|Win32.ActiveCfg = Release|Win32
 		{014A41B9-3E4D-48F0-B5D7-8C6FE42A142E}.Release|Win32.Build.0 = Release|Win32
+		{B219D272-E4C1-46D8-9263-3B4462606CC6}.Debug|Win32.ActiveCfg = Debug|Win32
+		{B219D272-E4C1-46D8-9263-3B4462606CC6}.Debug|Win32.Build.0 = Debug|Win32
+		{B219D272-E4C1-46D8-9263-3B4462606CC6}.Release|Win32.ActiveCfg = Release|Win32
+		{B219D272-E4C1-46D8-9263-3B4462606CC6}.Release|Win32.Build.0 = Release|Win32
+		{3484A961-9B00-4197-85ED-99303909089C}.Debug|Win32.ActiveCfg = Debug|Win32
+		{3484A961-9B00-4197-85ED-99303909089C}.Debug|Win32.Build.0 = Debug|Win32
+		{3484A961-9B00-4197-85ED-99303909089C}.Release|Win32.ActiveCfg = Release|Win32
+		{3484A961-9B00-4197-85ED-99303909089C}.Release|Win32.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
diff --git a/TactileButtons.suo b/TactileButtons.suo
index 95b9ff68fbc8d38f0706f6ca0cdbbc6fcc708875..8297b586913b330b8f590b4a3898eb5f2c91dbe5 100644
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diff --git a/TactileFluids/KinectInput.cpp b/TactileFluids/KinectInput.cpp
index e908518..cc9512f 100644
--- a/TactileFluids/KinectInput.cpp
+++ b/TactileFluids/KinectInput.cpp
@@ -1,11 +1,12 @@
 #include "KinectInput.h"
 
 #include <QDebug>
+#include <QDateTime>
 
 #define TIMEOUT 100
 
 KinectInput::KinectInput()
-:_running(false), _skeletonid(-1), _skeletonEvent(NULL)
+:_running(false), _skeletonid(-1), _skeletonEvent(NULL), _xfilter(50, 1.0), _yfilter(50, 1.0), _zfilter(50, 1.0)
 {
 	//creates the kinect sensor (id 0)
 	if(FAILED(NuiCreateSensorByIndex(0, &_kinect)))
@@ -76,8 +77,9 @@ void KinectInput::run()
 /*		if (data.eTrackingState != NUI_SKELETON_TRACKED)
 			continue;*/
 
+		//Let's use the 1 euro instead, see below
 		//smooth out the skeleton data
-		_kinect->NuiTransformSmooth(&SkeletonFrame, NULL);
+		//_kinect->NuiTransformSmooth(&SkeletonFrame, NULL);
 
 
 		if (data.eSkeletonPositionTrackingState[NUI_SKELETON_POSITION_HAND_RIGHT] == NUI_SKELETON_NOT_TRACKED)
@@ -88,7 +90,14 @@ void KinectInput::run()
 			NuiTransformSkeletonToDepthImageF(data.SkeletonPositions[NUI_SKELETON_POSITION_HAND_RIGHT], &posx, &posy);
 			emit rightHandMove(posx, posy,0);*/
 			Vector4 &skelpos = data.SkeletonPositions[NUI_SKELETON_POSITION_HAND_RIGHT];
-			emit rightHandMove(skelpos.x, skelpos.y, skelpos.z);
+
+			//Filter
+			int timestamp = QDateTime::currentMSecsSinceEpoch();
+			float fx = _xfilter.filter(skelpos.x, timestamp);
+			float fy = _yfilter.filter(skelpos.y, timestamp);
+			float fz = _zfilter.filter(skelpos.z, timestamp);
+
+			emit rightHandMove(fx, fy, fz);
         }
 	}
 }
diff --git a/TactileFluids/KinectInput.h b/TactileFluids/KinectInput.h
index b4bf077..855fb7b 100644
--- a/TactileFluids/KinectInput.h
+++ b/TactileFluids/KinectInput.h
@@ -6,6 +6,8 @@
 #include <Windows.h>
 #include <NuiAPI.h>
 
+#include "OneEuroFilter.h"
+
 class KinectInput: public QThread
 {
 	Q_OBJECT
@@ -22,6 +24,8 @@ class KinectInput: public QThread
 		bool _running;
 		int _skeletonid;
 
+		OneEuroFilter _xfilter, _yfilter, _zfilter;
+
 	signals:
 		void rightHandMove(float x, float y, float z);
 };
diff --git a/TactileFluids/OneEuroFilter.cpp b/TactileFluids/OneEuroFilter.cpp
index 02377c4..ee1754c 100644
--- a/TactileFluids/OneEuroFilter.cpp
+++ b/TactileFluids/OneEuroFilter.cpp
@@ -50,9 +50,14 @@ void LowPassFilter::setAlpha(double alpha)
 
 
 OneEuroFilter::OneEuroFilter(double freq, double mincutoff, double beta, double dcutoff)
-:_x(new LowPassFilter(alpha(mincutoff))), _dx(new LowPassFilter(alpha(dcutoff))), _lasttime(UndefinedTime)
+:_lasttime(UndefinedTime)
 {
 		setFrequency(freq);
+
+		//don't do this earlier, frequency is required to compute alpha
+		_x = new LowPassFilter(alpha(mincutoff));
+		_dx = new LowPassFilter(alpha(dcutoff));
+
 		setMinCutoff(mincutoff);
 		setBeta(beta);
 		setDerivateCutoff(dcutoff);
diff --git a/TactileFluids/OneEuroFilter.h b/TactileFluids/OneEuroFilter.h
index 100a5ae..7d24ffa 100644
--- a/TactileFluids/OneEuroFilter.h
+++ b/TactileFluids/OneEuroFilter.h
@@ -48,7 +48,7 @@ class OneEuroFilter
 		double filter(double value, TimeStamp timestamp=UndefinedTime);
 
 	private:
-		double _freq, _mincutoff, _beta;, _dcutoff;
+		double _freq, _mincutoff, _beta, _dcutoff;
 		LowPassFilter *_x, *_dx;
 		TimeStamp _lasttime;
 
diff --git a/TactileFluids/TactileFluids.vcxproj b/TactileFluids/TactileFluids.vcxproj
index 1ba5787..15b4a3e 100644
--- a/TactileFluids/TactileFluids.vcxproj
+++ b/TactileFluids/TactileFluids.vcxproj
@@ -54,7 +54,7 @@
     <Link>
       <SubSystem>Windows</SubSystem>
       <OutputFile>$(OutDir)\$(ProjectName).exe</OutputFile>
-      <AdditionalLibraryDirectories>$(KINECTSDK10_DIR)\lib\x86;;$(QTDIR)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalLibraryDirectories>$(KINECTSDK10_DIR)\lib\x86;$(QTDIR)\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <AdditionalDependencies>TactonPlayerd.lib;Kinect10.lib;qtmaind.lib;QtCored4.lib;QtGuid4.lib;%(AdditionalDependencies)</AdditionalDependencies>
     </Link>
diff --git a/TactileFluids/tactilefluids.ui b/TactileFluids/tactilefluids.ui
index 22abb01..c91f830 100644
--- a/TactileFluids/tactilefluids.ui
+++ b/TactileFluids/tactilefluids.ui
@@ -67,7 +67,7 @@
          <number>10</number>
         </property>
         <property name="value">
-         <number>100</number>
+         <number>500</number>
         </property>
        </widget>
       </item>
diff --git a/TactilePictures/Canvas.cpp b/TactilePictures/Canvas.cpp
new file mode 100644
index 0000000..903d908
--- /dev/null
+++ b/TactilePictures/Canvas.cpp
@@ -0,0 +1,286 @@
+/*
+ *
+ * Adapted from Pixel based by Nicolas Roussel and Paolo Olivo
+ * Authors: Thomas Pietrzak
+ * Copyright © Inria
+ *
+ */
+
+#include "Canvas.h"
+
+#include <QPainter>
+#include <QPaintEvent>
+#include <QDebug>
+#include <QPixmap>
+
+#include <iostream>
+#include <cstdio>
+
+const float Canvas::KinectWidth = 1.6;
+const float Canvas::KinectHeight = 1.0;
+const float Canvas::CursorSize = 10;
+
+
+// ############################### CLASS Canvas ################################
+Canvas::Canvas(QWidget *parent) 
+: QGraphicsView(parent), _tactonplayer(NULL), _image(new QGraphicsPixmapItem), data(new QImage) , _cursor(new QGraphicsEllipseItem(0, 0, CursorSize, CursorSize))
+{
+  setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+  ui.setupUi(this) ;
+  ui.infoWidget->setVisible(false);
+
+  //feedback = NULL ;
+  //this->_image = new QGraphicsPixmapItem ;
+  setScene(&_scene);
+  _scene.addItem(_image);
+  _scene.addItem(_cursor);
+  _cursor->setPen(QPen(QBrush(Qt::black), 5));
+
+  //this->data = new QImage ;
+
+  showData = false ;
+  invFeedback = false ;
+  paintUpFeedback = true ;
+
+  connect(&_kinectinput, SIGNAL(rightHandMove(float,float,float)), 
+		this, SLOT(updateFeedback(float,float,float)));
+
+    _kinectinput.start();
+}
+
+Canvas::~Canvas() {
+  delete data;
+  delete _image;
+
+  _kinectinput.stop();
+  if(_tactonplayer)
+  {
+	  unsigned char amp[] = {0, 0, 0, 0};
+	  _tactonplayer->setAmplitudes(4, amp);
+	  //May be dangerous, new in main
+	  delete _tactonplayer;
+  }
+}
+/*
+void 
+Canvas::setFeedback(Feedback *feedback) {
+  this->feedback = feedback ;
+}*/
+void 
+Canvas::setTactonPlayer(TactonPlayer *player) {
+  this->_tactonplayer = player;
+  if (_tactonplayer)
+	  _tactonplayer->setFrequency(250);
+}
+
+int
+Canvas::setImage(const char *imagePath, const char *dataPath) {
+//  if (image->load(imagePath)) {
+	QPixmap im;
+	if (im.load(imagePath))
+	{
+		//pixels copied?
+		_image->setPixmap(im);
+	    ui.imagePath->setText(QString(imagePath)) ;
+		if (!data->load(dataPath)) {
+			// If the data image cannot be found, delete the old data image
+			// and use image as data.
+			delete data;
+			QPixmap greydata(imagePath, 0, Qt::MonoOnly);
+			data = new QImage(greydata.toImage());
+			qDebug("No tactile map. Using %s", imagePath) ;
+			ui.dataPath->setText(QString("No tactile map")) ;
+		} else {
+			QPixmap greydata;
+			greydata.convertFromImage(*data, Qt::MonoOnly);
+			delete data;
+			data = new QImage(greydata.toImage());
+			ui.dataPath->setText(QString(dataPath)) ;
+		}
+		// check if the file requires to invert the feedback
+		std::string imageStr(imagePath) ;
+		if (imageStr.find("-BW-") < imageStr.length() ) {
+			// BW means "black on white", i.e. dark areas are the one with the strongest feedback
+			data->invertPixels() ;
+		}
+		// check if the user has required to invert the feedback
+		if (invFeedback) 
+			data->invertPixels() ;
+
+		setMinimumSize(_image->pixmap().size());
+	  	fitInView(_scene.sceneRect(), Qt::KeepAspectRatio);
+		this->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+		this->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+
+		//adjustSize() ; 
+		/*setFixedSize(sizeHint()) ;
+		update() ;
+		updateGeometry() ;*/
+
+		qDebug() << "Image w=" << _image->pixmap().width() << " h=" << _image->pixmap().height();
+		qDebug() << "Widget w=" << width() << " h=" << height();
+
+		paintUpFeedback = true;
+		// Cut the string manually at beginning since is the end part the most
+		// important one.
+		QFontMetrics metrics(ui.imagePath->font());
+		int width = metrics.width(ui.imagePath->text());
+		if (width > sizeHint().width() - 28) {
+			ui.imagePath->setText(metrics.elidedText(ui.imagePath->text(), Qt::ElideLeft, sizeHint().width() - 28)) ;
+			ui.imagePath->setAlignment(Qt::AlignRight) ;
+		} else {
+			ui.imagePath->setAlignment(Qt::AlignLeft) ;
+		}
+		// Same thing for the dataPath
+		width = metrics.width(ui.dataPath->text());
+		if (width > sizeHint().width() - 28) {
+			ui.dataPath->setText(metrics.elidedText(ui.dataPath->text(), Qt::ElideLeft, sizeHint().width() - 28)) ;
+			ui.dataPath->setAlignment(Qt::AlignRight) ;
+		} else {
+			ui.dataPath->setAlignment(Qt::AlignLeft) ;
+		}
+		return 0 ;
+	} else {
+		qDebug("Image %s cannot be loaded.", imagePath) ;
+		return 1;
+	}
+}
+
+void
+Canvas::updateFeedback() {
+  QPoint pos = mapFromGlobal(QCursor::pos()) ;
+  updateFeedback(_currentpos.x(), _currentpos.y(), 0.0) ;
+}
+
+void
+Canvas::updateFeedback(float x, float y, float z) {
+  qDebug() << "Hand at x=" << x << " y=" << y << " z=" << z;
+
+  if (!_tactonplayer) return ;
+
+  //map Kinect Coordinates to image
+  int px = (x / KinectWidth + 0.5) * data->width();
+  int py = (0.5 - y / KinectHeight) * data->height();
+  if (px < 0)
+	  px = 0;
+  else if (px > data->width())
+	  px = data->width();
+  if (py < 0)
+	  py = 0;
+  else if (py > data->width())
+	  py = data->width();
+
+  _currentpos = QPoint(px, py);
+  _cursor->setPos(px - CursorSize / 2, py - CursorSize / 2);
+  qDebug() << "Screen  x=" << px << " y=" << py << "\n";
+
+
+  if (data->valid(px, py)) { 
+    int gray = qGray(data->pixel(px, py)) ;
+	//TODO: try 4 pixels around
+	unsigned char amp[] = {gray, gray, gray, gray};
+	_tactonplayer->setAmplitudes(4, amp);
+  } else {
+    unsigned char amp[] = {0, 0, 0, 0};
+	_tactonplayer->setAmplitudes(4, amp);
+  }
+}
+
+// <<<<<<<<<<<<<<<<<<<<<<<<<<<< OVERRIDDEN METHODS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+/*QSize
+Canvas::minimumSizeHint() const {
+  return QSize(_image->pixmap().width(), _image->pixmap().height()) ;
+}
+
+QSize
+Canvas::sizeHint() const {
+  return QSize(_image->pixmap().width(), _image->pixmap().height()) ;
+}*/
+/*
+void
+Canvas::paintEvent(QPaintEvent * event) {
+  QRect dirtyRect = event->rect();
+
+  QPainter painter(this) ;
+  painter.setRenderHint(QPainter::Antialiasing, true) ;
+  if (showData)  
+    painter.drawImage(dirtyRect, *data, dirtyRect) ;
+  else
+    painter.drawImage(dirtyRect, *image, dirtyRect) ;
+  painter.end() ;
+
+  if (paintUpFeedback) {
+    updateFeedback() ;
+    paintUpFeedback = false ;
+  }
+
+  //draw Kinect cursor
+  painter.drawLine(_currentpos - QPoint(-5, 0), _currentpos - QPoint(+5, 0));
+  painter.drawLine(_currentpos - QPoint(0, -5), _currentpos - QPoint(0, +5));
+}*/
+/*
+void
+Canvas::mouseMoveEvent(QMouseEvent * event) {
+  updateFeedback(event->pos()) ;
+}
+
+void
+Canvas::leaveEvent(QEvent * event) {
+  if (feedback) feedback->setModalities(Feedback::NONE) ;
+}*/
+
+// <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< SLOTS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+void 
+Canvas::showFeedback(bool value) {
+  showData = value ;
+  if (!showData) ui.imageShown->setText("Visible image") ;
+  else ui.imageShown->setText("Friction map") ;
+  update() ;
+}
+
+void
+Canvas::invertFeedback(bool value) {
+  invFeedback = value ;
+  data->invertPixels() ;
+  if (invFeedback) ui.feedbackInfo->setText("Inverted") ; 
+  else ui.feedbackInfo->setText("Normal") ; 
+  if (showData)
+    update() ;
+  updateFeedback() ;
+}
+
+void 
+Canvas::showInfo(bool value) {
+  ui.infoWidget->setVisible(value) ;
+}
+
+void 
+Canvas::notifyImageNum(int id, int num) {
+  char label[64];
+  sprintf(label,"%d/%d", id, num);
+  ui.imageNum->setText(label) ;
+}
+
+/*
+QImage *
+Canvas::toGrayscale(QImage *image) {
+  // Initialize color table
+  QVector<QRgb> colorTable(256);
+  for (int i = 0; i<256; ++i) 
+    colorTable[i] = qRgb(i, i, i) ;
+
+  QSize size = image->size() ;
+  QImage * grayImage = new QImage(size, QImage::Format_Indexed8) ;
+  grayImage->setColorTable(colorTable) ;
+  for (int i = 0; i<size.height(); ++i)
+    for(int j = 0; j<size.width(); ++j)
+      grayImage->setPixel(j, i, qGray(image->pixel(j,i))) ;
+  return grayImage ; 
+}*/
+/*
+void
+Canvas::touchEvent(STIMTAC_input_200::TouchEvent event) {
+  if (event.activecount==0 && feedback) feedback->setModalities(Feedback::NONE) ;
+}
+
+*/
\ No newline at end of file
diff --git a/TactilePictures/Canvas.h b/TactilePictures/Canvas.h
new file mode 100644
index 0000000..f3579be
--- /dev/null
+++ b/TactilePictures/Canvas.h
@@ -0,0 +1,79 @@
+/*
+ *
+ * Adapted from Pixel based by Nicolas Roussel and Paolo Olivo
+ * Authors: Thomas Pietrzak
+ * Copyright © Inria
+ *
+ */
+
+#ifndef CANVAS_H
+#define CANVAS_H
+
+#include "ui_Canvas.h"
+
+#include<QGraphicsPixmapItem>
+#include <QGraphicsEllipseItem>
+#include <QGraphicsScene>
+#include <QGraphicsView>
+
+#include "KinectInput.h"
+#include <TactonPlayer\TactonPlayer.hpp>
+
+class Canvas : public QGraphicsView {
+
+  Q_OBJECT ;
+  
+  Ui::Canvas ui;
+  /** When showdata is true that it will be shown the data image and not
+   *  the front image. */
+  bool showData;
+  bool invFeedback ;
+  /** If true then the feedback must be updated at the end of next paint event.
+   *  This is necessary when the image is changed since the new
+   *  image get place only at the end of the paint method. */
+  bool paintUpFeedback ;
+
+protected:
+//  Feedback *feedback ;
+  TactonPlayer *_tactonplayer;
+  //QImage *image;
+  QImage *data;
+  QGraphicsScene _scene;
+  QGraphicsPixmapItem *_image;
+  QGraphicsEllipseItem *_cursor;
+  static const float CursorSize;
+
+  KinectInput _kinectinput;
+  QPoint _currentpos;
+  static const float KinectWidth, KinectHeight;
+
+public:
+  Canvas(QWidget *parent=0) ;
+  virtual ~Canvas() ;
+
+//  void setFeedback(Feedback *feedback) ;
+  void setTactonPlayer(TactonPlayer *player) ;
+  virtual int setImage(const char *img, const char *data = 0) ;
+
+  void showFeedback(bool value) ;
+  void invertFeedback(bool value) ;
+  void showInfo(bool value) ;
+  void notifyImageNum(int id, int num) ;
+
+protected:
+//  QSize minimumSizeHint() const ;
+//  QSize sizeHint() const ;
+  //virtual void paintEvent(QPaintEvent *event) ;
+  //virtual void mouseMoveEvent(QMouseEvent *event) ;
+  //void leaveEvent(QEvent *event) ;
+  
+  virtual void updateFeedback() ;
+
+  QImage * toGrayscale(QImage *image) ;
+ 
+public slots:
+//  void touchEvent(STIMTAC_input_200::TouchEvent event) ;
+	virtual void updateFeedback(float x, float y, float z) ;
+} ;
+
+#endif
diff --git a/TactilePictures/Canvas.ui b/TactilePictures/Canvas.ui
new file mode 100644
index 0000000..89e784b
--- /dev/null
+++ b/TactilePictures/Canvas.ui
@@ -0,0 +1,326 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Canvas</class>
+ <widget class="QWidget" name="Canvas">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>300</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>300</width>
+    <height>300</height>
+   </size>
+  </property>
+  <property name="mouseTracking">
+   <bool>true</bool>
+  </property>
+  <property name="windowTitle">
+   <string>Canvas</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <property name="spacing">
+    <number>0</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QWidget" name="infoWidget" native="true">
+     <property name="mouseTracking">
+      <bool>true</bool>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">color: rgb(255, 0, 0);</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <layout class="QVBoxLayout" name="pathForm">
+        <property name="spacing">
+         <number>0</number>
+        </property>
+        <item>
+         <widget class="QLabel" name="imageLabel">
+          <property name="font">
+           <font>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="layoutDirection">
+           <enum>Qt::LeftToRight</enum>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>Image:</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="imagePath">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>TextLabel</string>
+          </property>
+          <property name="scaledContents">
+           <bool>false</bool>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          </property>
+          <property name="wordWrap">
+           <bool>false</bool>
+          </property>
+          <property name="margin">
+           <number>5</number>
+          </property>
+          <property name="indent">
+           <number>0</number>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="dataLabel">
+          <property name="font">
+           <font>
+            <weight>75</weight>
+            <bold>true</bold>
+           </font>
+          </property>
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>Friction map</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="dataPath">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>TextLabel</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          </property>
+          <property name="wordWrap">
+           <bool>false</bool>
+          </property>
+          <property name="margin">
+           <number>5</number>
+          </property>
+          <property name="indent">
+           <number>0</number>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <spacer name="infoVSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>279</width>
+          <height>208</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="infoLayout">
+        <item>
+         <layout class="QVBoxLayout" name="propertiesLayout">
+          <item>
+           <spacer name="propertiesVSpacer">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>40</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item>
+           <widget class="QLabel" name="ImageShownLabel">
+            <property name="font">
+             <font>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="styleSheet">
+             <string notr="true"/>
+            </property>
+            <property name="text">
+             <string>Image shown:</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="imageShown">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="styleSheet">
+             <string notr="true"/>
+            </property>
+            <property name="text">
+             <string>Visible image</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="feedbackLabel">
+            <property name="font">
+             <font>
+              <weight>75</weight>
+              <bold>true</bold>
+             </font>
+            </property>
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="styleSheet">
+             <string notr="true"/>
+            </property>
+            <property name="text">
+             <string>Feedback:</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="feedbackInfo">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="styleSheet">
+             <string notr="true"/>
+            </property>
+            <property name="text">
+             <string>Normal</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <spacer name="infoHSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <layout class="QVBoxLayout" name="imageNumLayout">
+          <item>
+           <spacer name="imageNumVSpacer">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>40</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item>
+           <widget class="QLabel" name="imageNum">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="text">
+             <string>1/1</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/TactilePictures/ImageDemo.cpp b/TactilePictures/ImageDemo.cpp
new file mode 100644
index 0000000..72288d7
--- /dev/null
+++ b/TactilePictures/ImageDemo.cpp
@@ -0,0 +1,300 @@
+/* -*- mode: c++ -*-
+ *
+ * Adapted from Pixel based by Paolo Olivo
+ * Authors: Thomas Pietrzak
+ * Copyright © Inria
+ *
+ */
+
+#include <QtGui>
+
+#include "ImageDemo.h"
+
+// ############################### CLASS ImageRef ##############################
+ImageRef::ImageRef(const char *img, const char *data) :
+  _img(img), _data(data) {
+}
+
+ImageRef::ImageRef(const ImageRef &copy) :
+  _img(copy.img()), _data(copy.data()) {
+}
+
+// ############################## CLASS ImageDemo ##############################
+ImageDemo::ImageDemo(/*Feedback *feedback*/ TactonPlayer *player, const char *path, QWidget *parent) : QMainWindow(parent) {
+  ui.setupUi(this);
+//  ui.canvas->setFeedback(feedback) ;
+  ui.canvas->setTactonPlayer(player) ;
+  showRepository(false);
+  showMenuBar(true) ;
+  showCursor(true) ;
+  QString sPath ;
+  if (path) sPath = path ;
+  else sPath = ":/images/" ;
+  QFileInfo pathInfo(sPath) ;
+  if (pathInfo.isDir()) {
+    addDir(sPath.toLocal8Bit().data()) ;
+  } else if (pathInfo.isFile()) {
+    QListWidgetItem *item = addImage(sPath.toLocal8Bit().data()) ;
+    if (item) {
+      QVariant var = item->data(Qt::UserRole) ;
+      ImageRef ref = var.value<ImageRef>() ;  
+      showImage(item) ;
+    }
+  }
+  connect(ui.repository, SIGNAL(itemClicked(QListWidgetItem *)), 
+	  SLOT(showImage(QListWidgetItem *))) ;
+  connect(ui.openImage, SIGNAL(triggered(void)), SLOT(loadImagesDialog(void))) ;
+  connect(ui.openDir, SIGNAL(triggered(void)), SLOT(loadDirectoryDialog(void))) ;
+  connect(ui.showRepository, SIGNAL(triggered(bool)), SLOT(showRepository(bool))) ;
+  connect(ui.showMenuBar, SIGNAL(triggered(bool)), SLOT(showMenuBar(bool))) ;
+  connect(ui.showCursor, SIGNAL(triggered(bool)), SLOT(showCursor(bool))) ;
+  connect(ui.showOverlay, SIGNAL(triggered(bool)), SLOT(showOverlay(bool))) ;
+  connect(ui.showFeedback, SIGNAL(triggered(bool)), SLOT(showFeedback(bool))) ;
+  connect(ui.invertFeedback, SIGNAL(triggered(bool)), SLOT(invertFeedback(bool))) ;
+  connect(ui.showInfo, SIGNAL(triggered(bool)), SLOT(showInfo(bool))) ;
+}
+
+// <<<<<<<<<<<<<<<<<<<<<<<<<<<< OVERRIDDEN METHODS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+void
+ImageDemo::enterEvent(QEvent *) {
+  activateWindow() ;
+}
+
+void
+ImageDemo::dragEnterEvent(QDragEnterEvent *event) {
+  if (event->mimeData()->hasUrls()) {
+    event->setDropAction(Qt::CopyAction) ;
+    event->accept() ;
+  }
+}
+
+void
+ImageDemo::dragMoveEvent(QDragMoveEvent *event) {
+  if (event->mimeData()->hasUrls()) {
+    event->setDropAction(Qt::CopyAction) ;
+    event->accept() ;
+  }
+}
+
+void
+ImageDemo::dropEvent(QDropEvent *event) {
+  if (event->mimeData()->hasUrls()) {
+    QList<QUrl> urls = event->mimeData()->urls() ;    
+    QStringList files ;
+    for (int i = 0; i < urls.size(); ++i) {
+      files.append(urls[i].toLocalFile()) ;
+    }
+    addFiles(files) ;
+  }
+  // Set current window as active
+  activateWindow() ;
+}
+
+void 
+ImageDemo::keyPressEvent(QKeyEvent *event) {
+  bool handled = false;
+  if (!ui.menuBar->isVisible()) {
+    if (event->key() == Qt::Key_O && (event->modifiers() & Qt::CTRL)) {
+      loadImagesDialog() ;
+      handled = true ;
+    } else if (event->key() == Qt::Key_D && (event->modifiers() & Qt::CTRL)) {
+      loadDirectoryDialog() ;
+      handled = true ;
+    } else if (event->key() == Qt::Key_S && (event->modifiers() & Qt::CTRL)) {
+      showInfo(!ui.showInfo->isChecked()) ;
+      handled = true ;
+    } else if (event->key() == Qt::Key_Q && (event->modifiers() & Qt::CTRL)) {
+      close() ;
+      handled = true ;
+    } else if (event->key() == Qt::Key_F && (event->modifiers() & Qt::CTRL)) {
+      showFeedback(!ui.showFeedback->isChecked()) ;
+      handled = true ;
+    } else if (event->key() == Qt::Key_I && (event->modifiers() & Qt::CTRL)) {
+      invertFeedback(!ui.showFeedback->isChecked()) ;
+      handled = true ;
+    } else if (event->key() == Qt::Key_R && (event->modifiers() & Qt::CTRL)) {
+      showRepository(!ui.showRepository->isChecked()) ;
+      handled = true ;
+    } else if (event->key() == Qt::Key_M && (event->modifiers() & Qt::CTRL)) {
+      showMenuBar(!ui.showMenuBar->isChecked()) ;
+      handled = true ;
+    } else if (event->key() == Qt::Key_C && (event->modifiers() & Qt::CTRL)) {
+      showCursor(!ui.showCursor->isChecked()) ;
+      handled = true ;
+    } else if (event->key() == Qt::Key_V && (event->modifiers() & Qt::CTRL)) {
+      showOverlay(!ui.showOverlay->isChecked()) ;
+      handled = true ;
+    }
+  }
+  if (event->key()==Qt::Key_Up) {
+    int row = ui.repository->row(currItem) ;
+    if (row > 0)
+      showImage(ui.repository->item(row-1)) ;
+    handled = true ;
+  } else if (event->key()==Qt::Key_Down) {
+    int row = ui.repository->row(currItem) ;
+    if (row < ui.repository->count())
+      showImage(ui.repository->item(row+1)) ;
+    handled = true ;
+  }
+  if (!handled) QMainWindow::keyPressEvent(event) ;
+}
+
+void
+ImageDemo::addFiles(QStringList &files) {
+  bool set = false ;
+  for (int i = 0; i < files.size(); ++i) { 
+    if (!set) {
+      QListWidgetItem *item = addImage(files[i].toLocal8Bit().data()) ;
+      if (showImage(item) == 0) 
+        set = true;
+    } else {
+        addImage(files[i].toLocal8Bit().data()) ;
+    }
+  }
+}
+
+void
+ImageDemo::addDir(const char *path) {
+  QDir dir(path) ;
+  if (!dir.exists()) {
+     qWarning("Cannot find the example directory");
+  } else {
+    dir.setFilter(QDir::Files | QDir::NoSymLinks);
+    
+    QFileInfoList list = dir.entryInfoList();
+    QStringList files ;
+    for (int i = 0; i < list.size(); ++i) {
+      QFileInfo fileInfo = list.at(i);
+      files.append(fileInfo.absoluteFilePath()) ;
+    }
+    addFiles(files) ;
+  }
+}
+
+QListWidgetItem *
+ImageDemo::addImage(const char * img) {
+  if (img) {
+    std::string file(img) ;
+    std::size_t pos = file.rfind('/') ;
+    file = file.substr(pos + 1) ;
+
+    if (file.find(".data") < file.length() ) {
+      qDebug("%s not added to the list", file.data()) ;
+      return NULL ;
+    }
+
+    std::string dataImg(img) ;
+    pos = dataImg.rfind('.') ;
+    if (pos > 0 && pos < dataImg.length())  {
+      dataImg.insert(pos,".data") ; 
+    }
+    
+    ImageRef imgRef(img, dataImg.data()) ;
+    QListWidgetItem *item = new QListWidgetItem(QString(file.data())) ;
+    item->setData(Qt::UserRole, QVariant::fromValue(imgRef)) ;
+    ui.repository->addItem(item) ;
+
+    ui.canvas->notifyImageNum(ui.repository->row(item) + 1, ui.repository->count()) ;
+    return item ;
+  } else
+    return NULL ;
+}
+    
+// <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< SLOTS >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
+int 
+ImageDemo::showImage(QListWidgetItem *item) {
+  if (item) {
+    QVariant var = item->data(Qt::UserRole) ;
+    ImageRef ref = var.value<ImageRef>() ;  
+    if (ui.canvas->setImage(ref.img(), ref.data())) {
+      return 1 ;
+    }
+    currItem = item ;
+    ui.repository->setCurrentItem(item) ;
+    ui.canvas->notifyImageNum(ui.repository->row(item) + 1, ui.repository->count()) ;
+    return 0 ;
+  } else 
+    return 1 ;
+}  
+
+void 
+ImageDemo::loadImagesDialog(void) {
+  QFileDialog fileDialog ;  
+  fileDialog.setFileMode(QFileDialog::ExistingFiles); 
+  fileDialog.setViewMode(QFileDialog::List);
+  fileDialog.exec() ; 
+  QStringList files = fileDialog.selectedFiles() ;
+  addFiles(files) ;
+  // Set current window as active
+  activateWindow() ;
+}
+
+void 
+ImageDemo::loadDirectoryDialog(void) {
+  QFileDialog fileDialog ;  
+  fileDialog.setFileMode(QFileDialog::Directory); 
+  fileDialog.setViewMode(QFileDialog::List);
+  fileDialog.exec() ; 
+  QStringList files = fileDialog.selectedFiles() ;
+  addDir(files[0].toLocal8Bit().data()) ;
+  // Set current window as active
+  activateWindow() ;
+}
+
+void 
+ImageDemo::showRepository(bool value) {
+  ui.repository->setVisible(value) ; 
+  if (value && isFullScreen())
+  {
+	ui.repositorySpacer->setVisible(true) ;
+	ui.repositorySpacer->setMinimumWidth(250);
+  }
+  else
+  {
+  	ui.repositorySpacer->setMinimumWidth(0);
+	ui.repositorySpacer->setVisible(false) ;
+  }
+  ui.showRepository->setChecked(value) ;
+}
+
+void 
+ImageDemo::showMenuBar(bool value) {
+  ui.menuBar->setVisible(value) ;
+  ui.showMenuBar->setChecked(value) ;
+}
+
+void 
+ImageDemo::showCursor(bool value) {
+  if (value)
+    this->setCursor(Qt::ArrowCursor) ;
+  else
+    this->setCursor(Qt::BlankCursor) ;
+  ui.showCursor->setChecked(value) ;
+}
+
+void 
+ImageDemo::showOverlay(bool value) {
+  ui.showOverlay->setChecked(value) ;
+  emit overlayRequest(value) ;
+}
+
+void 
+ImageDemo::showFeedback(bool value) {
+  ui.canvas->showFeedback(value) ;
+  ui.showFeedback->setChecked(value) ;
+}
+
+void 
+ImageDemo::invertFeedback(bool value) {
+  ui.canvas->invertFeedback(value) ;
+  ui.invertFeedback->setChecked(value) ;
+}
+
+void 
+ImageDemo::showInfo(bool value) {
+  ui.canvas->showInfo(value) ;
+  ui.showInfo->setChecked(value) ;
+}
+
+
diff --git a/TactilePictures/ImageDemo.h b/TactilePictures/ImageDemo.h
new file mode 100644
index 0000000..9a14fe8
--- /dev/null
+++ b/TactilePictures/ImageDemo.h
@@ -0,0 +1,81 @@
+/* -*- mode: c++ -*-
+ *
+ * Adapted from Pixel based by Paolo Olivo
+ * Authors: Thomas Pietrzak
+ * Copyright © Inria
+ *
+ */
+
+#ifndef IMAGEDEMO_H
+#define IMAGEDEMO_H
+
+#include "Canvas.h"
+#include "ui_ImageDemo.h"
+
+#include <TactonPlayer\TactonPlayer.hpp>
+
+class ImageRef {
+
+  std::string _img ;
+  std::string _data ;
+
+public:
+
+  ImageRef() {}
+  ImageRef(const ImageRef &copy) ;
+  ImageRef(const char *img, const char *data) ;
+  ~ImageRef(void) {}
+
+  const char *img() const { return _img.data() ; }
+  const char *data() const { return _data.data() ; }
+
+};
+
+// This MACRO is necessary to use ImageRef as a QVariant.
+Q_DECLARE_METATYPE(ImageRef)
+
+class ImageDemo : public QMainWindow {
+
+  Q_OBJECT ;
+
+  Ui::ImageDemo ui;
+  QListWidgetItem *currItem ;
+
+public:
+  ImageDemo(/*Feedback *feedback*/TactonPlayer *player, const char *path=0, QWidget *parent=0) ;
+  //void setFeedback(Feedback *feedback) { ui.canvas->setFeedback(feedback) ; }
+  void setTactonPlayer(TactonPlayer *player) { ui.canvas->setTactonPlayer(player) ; }
+  QWidget* canvas(void) { return ui.canvas ; }
+
+protected:
+  void enterEvent(QEvent *event) ;
+  void dragEnterEvent(QDragEnterEvent *event) ;
+  void dragMoveEvent(QDragMoveEvent *event) ;
+  void dropEvent(QDropEvent *event) ;
+  void keyPressEvent(QKeyEvent *event) ;
+
+private:
+  void addFiles(QStringList &files) ;
+  void addDir(const char *path) ;
+  QListWidgetItem * addImage(const char * img) ;
+
+public slots:
+  void showMenuBar(bool value) ;
+  void showCursor(bool value) ;
+  void showOverlay(bool value) ;
+
+protected slots:
+  int showImage(QListWidgetItem * item) ;
+  void loadImagesDialog(void) ;
+  void loadDirectoryDialog(void) ;
+  void showRepository(bool value) ;
+  void showFeedback(bool value) ;
+  void invertFeedback(bool value) ;
+  void showInfo(bool value) ;
+
+signals:
+  void overlayRequest(bool value) ;
+
+};
+
+#endif
diff --git a/TactilePictures/ImageDemo.ui b/TactilePictures/ImageDemo.ui
new file mode 100644
index 0000000..1297ec1
--- /dev/null
+++ b/TactilePictures/ImageDemo.ui
@@ -0,0 +1,351 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ImageDemo</class>
+ <widget class="QMainWindow" name="ImageDemo">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>861</width>
+    <height>477</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="acceptDrops">
+   <bool>true</bool>
+  </property>
+  <property name="windowTitle">
+   <string>ImageDemo</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <property name="acceptDrops">
+    <bool>true</bool>
+   </property>
+   <layout class="QHBoxLayout" name="horizontalLayout">
+    <property name="spacing">
+     <number>0</number>
+    </property>
+    <property name="margin">
+     <number>0</number>
+    </property>
+    <item>
+     <widget class="QWidget" name="repositorySpacer" native="true">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>16777215</height>
+       </size>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <spacer name="leftSpacer">
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+      <property name="sizeType">
+       <enum>QSizePolicy::Preferred</enum>
+      </property>
+      <property name="sizeHint" stdset="0">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+     </spacer>
+    </item>
+    <item>
+     <layout class="QVBoxLayout" name="canvasLayout">
+      <item>
+       <spacer name="topSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="Canvas" name="canvas" native="true">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="bottomSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <spacer name="rightSpacer">
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+      <property name="sizeType">
+       <enum>QSizePolicy::Preferred</enum>
+      </property>
+      <property name="sizeHint" stdset="0">
+       <size>
+        <width>0</width>
+        <height>0</height>
+       </size>
+      </property>
+     </spacer>
+    </item>
+    <item>
+     <widget class="QListWidget" name="repository">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Expanding">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="minimumSize">
+       <size>
+        <width>250</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>250</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="focusPolicy">
+       <enum>Qt::NoFocus</enum>
+      </property>
+      <property name="alternatingRowColors">
+       <bool>true</bool>
+      </property>
+      <property name="uniformItemSizes">
+       <bool>true</bool>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>861</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <widget class="QMenu" name="fileMenu">
+    <property name="title">
+     <string>&amp;File</string>
+    </property>
+    <addaction name="openImage"/>
+    <addaction name="openDir"/>
+    <addaction name="separator"/>
+    <addaction name="quit"/>
+   </widget>
+   <widget class="QMenu" name="canvasMenu">
+    <property name="title">
+     <string>&amp;Canvas</string>
+    </property>
+    <addaction name="invertFeedback"/>
+   </widget>
+   <widget class="QMenu" name="menuShow">
+    <property name="title">
+     <string>&amp;Show</string>
+    </property>
+    <addaction name="showRepository"/>
+    <addaction name="showInfo"/>
+    <addaction name="showFeedback"/>
+    <addaction name="separator"/>
+    <addaction name="showMenuBar"/>
+    <addaction name="showCursor"/>
+    <addaction name="showOverlay"/>
+   </widget>
+   <addaction name="fileMenu"/>
+   <addaction name="canvasMenu"/>
+   <addaction name="menuShow"/>
+  </widget>
+  <action name="openImage">
+   <property name="text">
+    <string>&amp;Open Image</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+O</string>
+   </property>
+  </action>
+  <action name="toggleImages">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>&amp;Toggle images</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+T</string>
+   </property>
+  </action>
+  <action name="invertFeedback">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>&amp;Invert feedback</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+I</string>
+   </property>
+  </action>
+  <action name="showRepository">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>&amp;Repository</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+R</string>
+   </property>
+  </action>
+  <action name="showInfo">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>&amp;Image Info</string>
+   </property>
+   <property name="toolTip">
+    <string>Show Image Info</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+S</string>
+   </property>
+  </action>
+  <action name="showFeedback">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>&amp;Feedback Image</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+F</string>
+   </property>
+  </action>
+  <action name="showMenuBar">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>&amp;Menubar</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+M</string>
+   </property>
+  </action>
+  <action name="openDir">
+   <property name="text">
+    <string>Open &amp;Directory</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+D</string>
+   </property>
+  </action>
+  <action name="quit">
+   <property name="text">
+    <string>&amp;Quit</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+Q</string>
+   </property>
+  </action>
+  <action name="showCursor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>&amp;Cursor</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+C</string>
+   </property>
+  </action>
+  <action name="showOverlay">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>O&amp;verlay</string>
+   </property>
+   <property name="shortcut">
+    <string>Ctrl+V</string>
+   </property>
+  </action>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>Canvas</class>
+   <extends>QWidget</extends>
+   <header>Canvas.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources>
+  <include location="pixelbased.qrc"/>
+ </resources>
+ <connections>
+  <connection>
+   <sender>quit</sender>
+   <signal>triggered()</signal>
+   <receiver>ImageDemo</receiver>
+   <slot>close()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>-1</x>
+     <y>-1</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>283</x>
+     <y>238</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>
diff --git a/TactilePictures/KinectInput.cpp b/TactilePictures/KinectInput.cpp
new file mode 100644
index 0000000..9fc8f37
--- /dev/null
+++ b/TactilePictures/KinectInput.cpp
@@ -0,0 +1,108 @@
+#include "KinectInput.h"
+
+#include <QDebug>
+#include <QDateTime>
+
+#define TIMEOUT 100
+
+KinectInput::KinectInput()
+:_running(false), _skeletonid(-1), _skeletonEvent(NULL), _xfilter(50, 0.05), _yfilter(50, 0.05), _zfilter(50, 0.01)
+{
+	//creates the kinect sensor (id 0)
+	if(FAILED(NuiCreateSensorByIndex(0, &_kinect)))
+    {
+		qDebug() << "Cannot find a KINECT sensor" << endl;
+		//I should do something else, sucha as an exception
+        return;
+    }
+
+    if (_kinect->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON) == E_NUI_SKELETAL_ENGINE_BUSY)
+    {
+		qDebug() << "Cannot initialize the KINECT sensor" << endl;
+        return;
+   }
+
+	//initialize the skeleton tracking
+	_skeletonEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
+	if(!HasSkeletalEngine(_kinect) || FAILED(_kinect->NuiSkeletonTrackingEnable(_skeletonEvent, 0)))
+    {
+		qDebug() << "Cannot Initialize skeleton tracking" << endl;
+        return;
+    }
+}
+
+KinectInput::~KinectInput()
+{
+	NuiShutdown();
+	if( _skeletonEvent && ( _skeletonEvent != INVALID_HANDLE_VALUE ) )
+        CloseHandle( _skeletonEvent );
+}
+
+//thread that manages the kinect events
+void KinectInput::run()
+{
+	_running = true;
+	while(_running)
+	{
+		//wait for an event
+		if (WaitForSingleObject(_skeletonEvent, TIMEOUT) != 0)
+			continue;
+
+		//get skeleton values
+		NUI_SKELETON_FRAME SkeletonFrame;
+		HRESULT hr = _kinect->NuiSkeletonGetNextFrame( 0, &SkeletonFrame );
+//		qDebug() << "Kinect frame " << SkeletonFrame.dwFrameNumber;
+
+		//if no skeleton already identified or not tracked anymore, search for one
+		if (_skeletonid < 0 || SkeletonFrame.SkeletonData[_skeletonid].eTrackingState != NUI_SKELETON_TRACKED)
+		{
+			for( int i = 0 ; i < NUI_SKELETON_COUNT ; i++ )
+			{
+				if(SkeletonFrame.SkeletonData[i].eTrackingState == NUI_SKELETON_TRACKED)
+				{
+					_skeletonid = i;
+					break;
+				}
+			}
+		}
+
+		//no skeleton found
+		if (_skeletonid < 0)
+			continue;
+
+		//retrieve information on the skeleton
+		NUI_SKELETON_DATA &data = SkeletonFrame.SkeletonData[_skeletonid];
+
+		//checking if we have a skeleton
+/*		if (data.eTrackingState != NUI_SKELETON_TRACKED)
+			continue;*/
+
+		//Let's use the 1 euro instead, see below
+		//smooth out the skeleton data
+		//_kinect->NuiTransformSmooth(&SkeletonFrame, NULL);
+
+
+		if (data.eSkeletonPositionTrackingState[NUI_SKELETON_POSITION_HAND_RIGHT] == NUI_SKELETON_NOT_TRACKED)
+			continue; //right hand not detected
+		else
+		{
+/*			float posx, posy;
+			NuiTransformSkeletonToDepthImageF(data.SkeletonPositions[NUI_SKELETON_POSITION_HAND_RIGHT], &posx, &posy);
+			emit rightHandMove(posx, posy,0);*/
+			Vector4 &skelpos = data.SkeletonPositions[NUI_SKELETON_POSITION_HAND_RIGHT];
+
+			//Filter
+			int timestamp = QDateTime::currentMSecsSinceEpoch();
+			float fx = _xfilter.filter(skelpos.x, timestamp);
+			float fy = _yfilter.filter(skelpos.y, timestamp);
+			float fz = _zfilter.filter(skelpos.z, timestamp);
+
+			emit rightHandMove(fx, fy, fz);
+        }
+	}
+}
+
+void KinectInput::stop()
+{
+	_running = false;
+}
diff --git a/TactilePictures/KinectInput.h b/TactilePictures/KinectInput.h
new file mode 100644
index 0000000..855fb7b
--- /dev/null
+++ b/TactilePictures/KinectInput.h
@@ -0,0 +1,33 @@
+#ifndef __KINECTINPUT__
+#define __KINECTINPUT__
+
+#include <QObject>
+#include <QThread>
+#include <Windows.h>
+#include <NuiAPI.h>
+
+#include "OneEuroFilter.h"
+
+class KinectInput: public QThread
+{
+	Q_OBJECT
+	public:
+		KinectInput();
+		~KinectInput();
+
+		void run();
+		void stop();
+
+	private:
+		INuiSensor* _kinect;
+		HANDLE _skeletonEvent;
+		bool _running;
+		int _skeletonid;
+
+		OneEuroFilter _xfilter, _yfilter, _zfilter;
+
+	signals:
+		void rightHandMove(float x, float y, float z);
+};
+
+#endif
diff --git a/TactilePictures/OneEuroFilter.cpp b/TactilePictures/OneEuroFilter.cpp
new file mode 100644
index 0000000..ee1754c
--- /dev/null
+++ b/TactilePictures/OneEuroFilter.cpp
@@ -0,0 +1,118 @@
+#include "OneEuroFilter.h"
+
+#define _USE_MATH_DEFINES 
+#include <cmath>
+#include <stdexcept>
+
+LowPassFilter::LowPassFilter(double alpha, double initval) 
+:_y(initval), _s(initval), _initialized(false)
+{
+	setAlpha(alpha);
+}
+
+double LowPassFilter::filter(double value) 
+{
+	double result;
+	if (_initialized)
+		result = _a * value + (1.0 - _a) * _s;
+	else 
+	{
+		result = value;
+		_initialized = true;
+	}
+	_y = value;
+	_s = result;
+	return result;
+}
+
+double LowPassFilter::filterWithAlpha(double value, double alpha) 
+{
+	setAlpha(alpha);
+	return filter(value);
+}
+
+bool LowPassFilter::hasLastRawValue(void) 
+{
+	return _initialized;
+}
+
+double LowPassFilter::lastRawValue(void) 
+{
+	return _y ;
+}
+
+void LowPassFilter::setAlpha(double alpha) 
+{
+	if (alpha <= 0.0 || alpha > 1.0) 
+		throw std::range_error("alpha should be in ]0.0., 1.0]");
+	_a = alpha;
+}
+
+
+OneEuroFilter::OneEuroFilter(double freq, double mincutoff, double beta, double dcutoff)
+:_lasttime(UndefinedTime)
+{
+		setFrequency(freq);
+
+		//don't do this earlier, frequency is required to compute alpha
+		_x = new LowPassFilter(alpha(mincutoff));
+		_dx = new LowPassFilter(alpha(dcutoff));
+
+		setMinCutoff(mincutoff);
+		setBeta(beta);
+		setDerivateCutoff(dcutoff);
+}
+
+OneEuroFilter::~OneEuroFilter(void) 
+{
+	delete _x;
+	delete _dx;
+}
+
+double OneEuroFilter::filter(double value, TimeStamp timestamp) 
+{
+	// update the sampling frequency based on timestamps
+	if (_lasttime != UndefinedTime && timestamp != UndefinedTime)
+		_freq = 1.0 / (timestamp - _lasttime);
+	_lasttime = timestamp;
+	// estimate the current variation per second 
+	double dvalue = _x->hasLastRawValue() ? (value - _x->lastRawValue()) * _freq : 0.0; // FIXME: 0.0 or value?
+	double edvalue = _dx->filterWithAlpha(dvalue, alpha(_dcutoff));
+	// use it to update the cutoff frequency
+	double cutoff = _mincutoff + _beta * fabs(edvalue);
+	// filter the given value
+	return _x->filterWithAlpha(value, alpha(cutoff));
+}
+
+double OneEuroFilter::alpha(double cutoff) 
+{
+	double te = 1.0 / _freq;
+	double tau = 1.0 / (2 * M_PI * cutoff);
+	return 1.0 / (1.0 + tau/te);
+}
+
+void OneEuroFilter::setFrequency(double f) 
+{
+	if (f <= 0) 
+		throw std::range_error("freq should be >0");
+	_freq = f;
+}
+
+void OneEuroFilter::setMinCutoff(double mc) 
+{
+	if (mc <= 0) 
+		throw std::range_error("mincutoff should be >0");
+	_mincutoff = mc;
+}
+
+void OneEuroFilter::setBeta(double b) 
+{
+	_beta = b;
+}
+
+void OneEuroFilter::setDerivateCutoff(double dc) 
+{
+	if (dc <= 0) 
+		throw std::range_error("dcutoff should be >0");
+	_dcutoff = dc;
+}
diff --git a/TactilePictures/OneEuroFilter.h b/TactilePictures/OneEuroFilter.h
new file mode 100644
index 0000000..7d24ffa
--- /dev/null
+++ b/TactilePictures/OneEuroFilter.h
@@ -0,0 +1,62 @@
+/*
+ * OneEuroFilter.h/.cpp -
+ *
+ * Author: Thomas Pietrzak (thomas.pietrzak@lifl.fr)
+ * based on code from
+ * Nicolas Roussel (nicolas.roussel@inria.fr)
+ *
+ */
+
+
+#ifndef __ONEEURO__
+#define __ONEEURO__
+
+
+typedef double TimeStamp ; // in seconds
+
+static const TimeStamp UndefinedTime = -1.0 ;
+
+
+class LowPassFilter 
+{
+	public:
+		LowPassFilter(double alpha, double initval=0.0);
+
+		double filterWithAlpha(double value, double alpha);
+		inline bool hasLastRawValue(void);
+		inline double lastRawValue(void);
+
+	private:
+		double _y, _a, _s;
+		bool _initialized;
+
+		void setAlpha(double alpha);
+		double filter(double value);
+} ;
+
+class OneEuroFilter 
+{
+	public:
+		OneEuroFilter(
+			double freq, 
+			double mincutoff=1.0, 
+			double beta_=0.0, 
+			double dcutoff=1.0);
+	
+		~OneEuroFilter();
+
+		double filter(double value, TimeStamp timestamp=UndefinedTime);
+
+	private:
+		double _freq, _mincutoff, _beta, _dcutoff;
+		LowPassFilter *_x, *_dx;
+		TimeStamp _lasttime;
+
+		double alpha(double cutoff);
+		inline void setFrequency(double f);
+		inline void setMinCutoff(double mc);
+		inline void setBeta(double b);
+		inline void setDerivateCutoff(double dc);
+} ;
+
+#endif
diff --git a/TactilePictures/PictureView.cpp b/TactilePictures/PictureView.cpp
new file mode 100644
index 0000000..b6f2e3e
--- /dev/null
+++ b/TactilePictures/PictureView.cpp
@@ -0,0 +1,25 @@
+#include "PictureView.h"
+
+#include <QSizePolicy>
+#include <QDebug>
+
+PictureView::PictureView(void)
+{
+	setScene(&_scene);
+    _scene.addItem(&_image);
+//	this->setMaximumSize(0xffffffff, 0xffffffff);
+	//setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+//	resize(200, 200);
+
+}
+
+
+PictureView::~PictureView(void)
+{
+}
+
+void PictureView::setImage(QString fileName)
+{
+	 _image.setPixmap(QPixmap(fileName));
+	fitInView(_scene.sceneRect(),Qt::KeepAspectRatio);
+}
diff --git a/TactilePictures/PictureView.h b/TactilePictures/PictureView.h
new file mode 100644
index 0000000..330a6d4
--- /dev/null
+++ b/TactilePictures/PictureView.h
@@ -0,0 +1,25 @@
+#ifndef __PICTUREVIEW__
+#define __PICTUREVIEW__
+
+#include <QGraphicsScene>
+#include <QGraphicsPixmapItem>
+#include <QGraphicsView>
+#include <QMouseEvent>
+
+class PictureView :
+	public QGraphicsView
+{
+	Q_OBJECT
+
+	public:
+		PictureView(void);
+		~PictureView(void);
+
+		void setImage(QString);
+
+	private:
+		QGraphicsScene _scene;
+		QGraphicsPixmapItem _image;
+};
+
+#endif
diff --git a/TactilePictures/TactilePictures.vcxproj b/TactilePictures/TactilePictures.vcxproj
new file mode 100644
index 0000000..05e6b03
--- /dev/null
+++ b/TactilePictures/TactilePictures.vcxproj
@@ -0,0 +1,242 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{B219D272-E4C1-46D8-9263-3B4462606CC6}</ProjectGuid>
+    <Keyword>Qt4VSv1.0</Keyword>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup>
+    <_ProjectFileVersion>10.0.30319.1</_ProjectFileVersion>
+    <CodeAnalysisRuleSet Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">AllRules.ruleset</CodeAnalysisRuleSet>
+    <CodeAnalysisRules Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" />
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new file mode 100644
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diff --git a/TactilePictures/main.cpp b/TactilePictures/main.cpp
new file mode 100644
index 0000000..5873344
--- /dev/null
+++ b/TactilePictures/main.cpp
@@ -0,0 +1,29 @@
+#include "tactilepictures.h"
+#include <QtGui/QApplication>
+
+#include <TactonPlayer\TactonPlayer.hpp>
+#include "ImageDemo.h"
+
+#include <QDebug>
+
+int main(int argc, char *argv[])
+{
+	TactonPlayer *player;
+	try
+	{
+		player = new TactonPlayer("COM8");
+	}
+	catch (...)
+	{
+		player = NULL;
+		qDebug() << "No wristband found";
+		return 0;
+	}
+
+	QApplication a(argc, argv);
+	ImageDemo demo(player);
+	demo.show();
+	//TactilePictures w;
+	//w.show();
+	return a.exec();
+}
diff --git a/TactilePictures/pixelbased.cpp b/TactilePictures/pixelbased.cpp
new file mode 100644
index 0000000..cec056e
--- /dev/null
+++ b/TactilePictures/pixelbased.cpp
@@ -0,0 +1,164 @@
+/*
+ *
+ * demos/pixelbased/pixelbased.cpp --
+ *
+ * Initial software
+ * Authors: Nicolas Roussel, Paolo Olivo
+ * Copyright © Inria
+ *
+ */
+
+#include <QApplication>
+#include <QDesktopWidget>
+#include <QDebug>
+#include <QMatrix3x3>
+#include <QStyleFactory>
+
+#include <tIO/stimtac/STM32TS60CursorControl.h>
+#include <tIO/stimtac/StandaloneCursorControl.h>
+#include <tIO/stimtac/STIMTAC200CursorControl.h>
+#include <tIO/utils/Overlay.h>
+
+#include "ImageDemo.h"
+
+int
+main(int argc, char* argv[]) {
+  QApplication::setStyle(QStyleFactory::create("plastique")) ;
+  QApplication app(argc, argv) ;
+  // Parse args
+  int ch, overlaysize=-1 ;
+  bool absolute=false, fullscreen=false, hidemenubar=false, showoverlay=false;
+  QString device, rotation, screenstr, calibstr ;
+  while ((ch = getopt(argc, argv, "d:r:f::maho::c:")) != -1) {
+    switch (ch) {
+    case 'f': fullscreen = true ; if (optarg) screenstr = optarg ; break ;
+    case 'r': rotation = optarg ; break ;
+    case 'd': device = optarg ; break ;
+    case 'm': hidemenubar = true ; break ;
+    case 'a': absolute = true ; break ;
+    case 'c': calibstr = optarg ; break ;
+    case 'o': showoverlay = true ; if (optarg) overlaysize = atoi(optarg) ; break ;
+    case 'h': 
+      qDebug() << "Usage:" << argv[0] << "[OPTION]... [DIRECTORY]" ;
+      qDebug();
+      qDebug() << "Options:" ;
+      qDebug() << " -d <DEVICE>        select device between: standalone, stimtac200, stm32ts60" ;
+      qDebug() << "                    (default=standalone)" ;
+      qDebug() << " -c MATRIX          set 3x3 calibration matrix (e.g. -c 0.865,0,0.074,0,1.1,0,0,0,1)" ;
+      qDebug() << "                    (standalone only)" ;
+      qDebug() << " -r <ROTATION>      select rotation between: normal, left, inverted, right" ;
+      qDebug() << "                    (standalone only, default=normal)" ;
+      qDebug() << " -f[SCREEN-NUMBER]  set demo fullscreen and select screen (e.g. -f0)" ;
+      qDebug() << " -m                 hide menubar" ;
+      qDebug() << " -o[SIZE]           show overlay (e.g. -o60)" ;
+      qDebug() << " -a                 set absolute pointing (standalone only)" ;
+      qDebug() << " -h                 display this help and exit" ;
+      return 0 ;
+    default: break ;
+    }
+  }
+  char* path = argc - optind > 0 ? argv[optind] : NULL ;
+  // Init demo and stimtac device
+  Q_INIT_RESOURCE(pixelbased) ;
+  ImageDemo* demo = new ImageDemo(NULL, path) ;
+  Overlay *overlay = new Overlay(demo) ;
+  overlay->setRadius(overlaysize) ;
+  QObject::connect(demo, SIGNAL(overlayRequest(bool)), 
+		   overlay, SLOT(setEnabled(bool))) ;
+  Feedback* feedback = NULL;
+  STM32TS60CursorControl* stm32ts60Cursor = NULL ;
+  StandaloneCursorControl* standaloneCursor = NULL ;
+  STIMTAC200CursorControl* stimtac200Cursor = NULL ;
+  if (device.isEmpty()) {
+    device = "standalone" ;
+    qDebug() << "Using default device:" << device ;
+  }
+  if (device=="standalone") {
+    standaloneCursor = new StandaloneCursorControl(demo) ;
+    feedback = new Feedback(standaloneCursor->standalone()) ;
+    standaloneCursor->setAbsolute(absolute) ;
+    if (!calibstr.isEmpty()) {
+      bool ok ;
+      int i = 0 ;
+      qreal data[] = {0, 0, 0, 0, 0, 0, 0, 0, 0} ;
+      QStringList list = calibstr.remove(QChar(' ')).split(",") ;
+      ok = list.size()==9 ; 
+      while (i<9 && ok) {
+	data[i] = list.at(i).toFloat(&ok) ;
+	++i ;
+      }
+      if (ok) {
+	QMatrix3x3 matrix(data) ;
+	QMatrix3x3 result = matrix * standaloneCursor->transformationMatrix() ;
+	standaloneCursor->setTransformationMatrix(result) ;
+      } else {
+	qDebug() << "WARNING: invalid calibration matrix" << calibstr ;
+      }
+    }
+    if (!rotation.isEmpty()) {
+      QMatrix3x3 matrix = StandaloneCursorControl::orientationMatrix(rotation) ;
+      QMatrix3x3 result = matrix * standaloneCursor->transformationMatrix() ;
+      standaloneCursor->setTransformationMatrix(result) ;
+    }
+    if (absolute) demo->showCursor(false) ;
+
+  } else if (device=="stimtac200") {
+    stimtac200Cursor = new STIMTAC200CursorControl(demo, 0.0) ;
+    feedback = new Feedback(stimtac200Cursor->stimtac()) ;
+    demo->connect(stimtac200Cursor->stimtac(), 
+		  SIGNAL(touchEvent(STIMTAC_input_200::TouchEvent)), 
+		  demo->canvas(), 
+		  SLOT(touchEvent(STIMTAC_input_200::TouchEvent))) ;
+    if (!calibstr.isEmpty()) qDebug() 
+	<< "WARNING: calibration matrix cannot be set for requested device:" 
+	<< device ;
+    if (!rotation.isEmpty()) qDebug() 
+	<< "WARNING: rotation cannot be set for requested device:" 
+	<< device ;
+    if (absolute) qDebug() 
+	<< "WARNING: absolute pointing not available for requested device:" 
+	<< device ;
+
+  } else if (device=="stm32ts60") {
+    stm32ts60Cursor = new STM32TS60CursorControl(demo, 0.0) ;
+    feedback = new Feedback ;
+    if (!calibstr.isEmpty()) qDebug() 
+	<< "WARNING: calibration matrix cannot be set for requested device:" 
+	<< device ;
+    if (!rotation.isEmpty()) qDebug() 
+	<< "WARNING: rotation cannot be set for requested device:" 
+	<< device ;
+    if (absolute) qDebug() 
+	<< "WARNING: absolute pointing not available for requested device:" 
+	<< device ;
+  } else {
+    qDebug() << "ERROR! Device not recognized: " << device ;
+    return -1 ;
+  }
+  demo->setFeedback(feedback) ;
+  demo->showOverlay(showoverlay) ;
+  demo->showMenuBar(!hidemenubar) ;
+  if (!screenstr.isEmpty()) {
+    // Check fullscreen and screen selection
+    QDesktopWidget* desktop = app.desktop() ;
+    bool ok ;
+    int screennumber = screenstr.toInt(&ok) ;
+    if (ok && screennumber>=0 && screennumber<desktop->screenCount()) {
+      const QRect screen = desktop->screenGeometry(screennumber) ;
+      demo->move(screen.x(), screen.y()) ;
+    } else {
+      qDebug() << "Cannot select screen:" << screenstr ;
+    }
+  }
+  fullscreen ? demo->showFullScreen() : demo->show() ;
+  demo->raise() ;
+  // Run
+  int value = app.exec() ;
+  // Closing
+  if (stm32ts60Cursor) delete stm32ts60Cursor ;
+  if (standaloneCursor) delete standaloneCursor ;
+  if (stimtac200Cursor) delete stimtac200Cursor ;
+  delete feedback ;
+  delete demo ;
+  return value ;
+}
diff --git a/TactilePictures/tactilepictures.cpp b/TactilePictures/tactilepictures.cpp
new file mode 100644
index 0000000..3bb4f3f
--- /dev/null
+++ b/TactilePictures/tactilepictures.cpp
@@ -0,0 +1,24 @@
+#include "tactilepictures.h"
+
+#include <QFileDialog>
+
+TactilePictures::TactilePictures(QWidget *parent, Qt::WFlags flags)
+: QMainWindow(parent, flags)
+{
+	setupUi(this);
+
+	_pictureview.setParent(_pictureframe);
+
+	connect(_load, SIGNAL(pressed()), this, SLOT(pressLoad()));
+}
+
+TactilePictures::~TactilePictures()
+{
+
+}
+
+void TactilePictures::pressLoad()
+{
+	QString fileName = QFileDialog::getOpenFileName(this, tr("Open Image"), ".", tr("Image Files (*.png *.jpg *.bmp)"));
+	_pictureview.setImage(fileName);
+}
\ No newline at end of file
diff --git a/TactilePictures/tactilepictures.h b/TactilePictures/tactilepictures.h
new file mode 100644
index 0000000..4e0f8ef
--- /dev/null
+++ b/TactilePictures/tactilepictures.h
@@ -0,0 +1,27 @@
+#ifndef TACTILEPICTURES_H
+#define TACTILEPICTURES_H
+
+#include <QtGui/QMainWindow>
+#include "ui_tactilepictures.h"
+
+#include <TactonPlayer\TactonPlayer.hpp>
+
+#include "PictureView.h"
+
+
+class TactilePictures : public QMainWindow, public Ui::TactilePicturesClass
+{
+	Q_OBJECT
+
+	public:
+		TactilePictures(QWidget *parent = 0, Qt::WFlags flags = 0);
+		~TactilePictures();
+
+	public slots:
+		void pressLoad();
+
+	private:
+		PictureView _pictureview;
+};
+
+#endif // TACTILEPICTURES_H
diff --git a/TactilePictures/tactilepictures.ui b/TactilePictures/tactilepictures.ui
new file mode 100644
index 0000000..ffbb963
--- /dev/null
+++ b/TactilePictures/tactilepictures.ui
@@ -0,0 +1,90 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TactilePicturesClass</class>
+ <widget class="QMainWindow" name="TactilePicturesClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>919</width>
+    <height>676</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>TactilePictures</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <property name="layoutDirection">
+    <enum>Qt::LeftToRight</enum>
+   </property>
+   <layout class="QVBoxLayout">
+    <item>
+     <widget class="QWidget" name="_pictureframe" native="true">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <layout class="QHBoxLayout" name="horizontalLayout_2"/>
+     </widget>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="sizeConstraint">
+       <enum>QLayout::SetMinimumSize</enum>
+      </property>
+      <item>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="_load">
+        <property name="text">
+         <string>Load</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QWidget" name="_sample" native="true">
+        <property name="minimumSize">
+         <size>
+          <width>20</width>
+          <height>20</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer_2">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources>
+  <include location="tactilepictures.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/TouchscreenButton/TouchscreenButton.cpp b/TouchscreenButton/TouchscreenButton.cpp
new file mode 100644
index 0000000..5471467
--- /dev/null
+++ b/TouchscreenButton/TouchscreenButton.cpp
@@ -0,0 +1,39 @@
+#include "TouchscreenButton.h"
+
+#include <QDebug>
+
+TouchscreenButton::TouchscreenButton(QWidget *parent, Qt::WFlags flags)
+: QMainWindow(parent, flags)
+{
+	setupUi(this);
+
+	try
+	{
+		_touchscreen = new USBHIDImmersionTouchscreen();
+		_wristband = new TactonPlayer("COM11");
+	}
+	catch(...)
+	{
+		qDebug() << "Cannot find the touchscreen or the wristband";
+	}
+
+	connect(_play, SIGNAL(pressed()), this, SLOT(play()));
+	connect(_stop, SIGNAL(pressed()), this, SLOT(stop()));
+}
+
+TouchscreenButton::~TouchscreenButton()
+{
+	if (_touchscreen)
+		delete _touchscreen;
+	hid_exit();
+}
+
+void TouchscreenButton::play()
+{
+	_touchscreen->playEffect((unsigned char)(_effect->value()), (unsigned char)(_repeats->value()));
+}
+
+void TouchscreenButton::stop()
+{
+	_touchscreen->playEffect(0, 1);
+}
diff --git a/TouchscreenButton/TouchscreenButton.h b/TouchscreenButton/TouchscreenButton.h
new file mode 100644
index 0000000..79fec7d
--- /dev/null
+++ b/TouchscreenButton/TouchscreenButton.h
@@ -0,0 +1,27 @@
+#ifndef TOUCHSCREENBUTTON_H
+#define TOUCHSCREENBUTTON_H
+
+#include <QtGui/QMainWindow>
+#include "ui_touchscreenbutton.h"
+
+#include <ArduinoSerial\SerialWindows.hpp>
+#include "USBHIDImmersionTouchscreen.h"
+
+class TouchscreenButton : public QMainWindow, public Ui::TouchscreenButtonClass
+{
+	Q_OBJECT
+
+	public:
+		TouchscreenButton(QWidget *parent = 0, Qt::WFlags flags = 0);
+		~TouchscreenButton();
+
+	public slots:
+		void play();
+		void stop();
+
+	private:
+		USBHIDImmersionTouchscreen *_touchscreen;
+		TactonPlayer *_wristband;
+};
+
+#endif // TOUCHSCREENBUTTON_H
diff --git a/TouchscreenButton/TouchscreenButton.vcxproj b/TouchscreenButton/TouchscreenButton.vcxproj
new file mode 100644
index 0000000..55d5fc0
--- /dev/null
+++ b/TouchscreenButton/TouchscreenButton.vcxproj
@@ -0,0 +1,161 @@
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+    <Link>
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+      </DebugInformationFormat>
+      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+      <TreatWChar_tAsBuiltInType>false</TreatWChar_tAsBuiltInType>
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+    <Link>
+      <SubSystem>Windows</SubSystem>
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+  </ItemDefinitionGroup>
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+    <ClCompile Include="GeneratedFiles\Debug\moc_TouchscreenButton.cpp">
+      <ExcludedFromBuild Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">true</ExcludedFromBuild>
+    </ClCompile>
+    <ClCompile Include="GeneratedFiles\qrc_touchscreenbutton.cpp">
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+      </PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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+    </ClCompile>
+    <ClCompile Include="GeneratedFiles\Release\moc_TouchscreenButton.cpp">
+      <ExcludedFromBuild Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">true</ExcludedFromBuild>
+    </ClCompile>
+    <ClCompile Include="main.cpp" />
+    <ClCompile Include="TouchscreenButton.cpp" />
+    <ClCompile Include="USBHIDImmersionTouchscreen.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <CustomBuild Include="TouchscreenButton.h">
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">$(QTDIR)\bin\moc.exe;%(FullPath)</AdditionalInputs>
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+    </CustomBuild>
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+    </CustomBuild>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="GeneratedFiles\ui_touchscreenbutton.h" />
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+      </Message>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+      </Outputs>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+      </Command>
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+  <ItemGroup>
+    <CustomBuild Include="touchscreenbutton.qrc">
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+    </CustomBuild>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+  <ProjectExtensions>
+    <VisualStudio>
+      <UserProperties UicDir=".\GeneratedFiles" MocDir=".\GeneratedFiles\$(ConfigurationName)" MocOptions="" RccDir=".\GeneratedFiles" lupdateOnBuild="0" lupdateOptions="" lreleaseOptions="" QtVersion_x0020_Win32="4.8.2" />
+    </VisualStudio>
+  </ProjectExtensions>
+</Project>
\ No newline at end of file
diff --git a/TouchscreenButton/USBHIDImmersionTouchscreen.cpp b/TouchscreenButton/USBHIDImmersionTouchscreen.cpp
new file mode 100644
index 0000000..75d2aa4
--- /dev/null
+++ b/TouchscreenButton/USBHIDImmersionTouchscreen.cpp
@@ -0,0 +1,48 @@
+#include "USBHIDImmersionTouchscreen.h"
+
+
+// Vendir ID and Product ID (see lsusb)
+int USBHIDImmersionTouchscreen::VID = 0x0563;
+int USBHIDImmersionTouchscreen::PID = 0x0423;
+
+#define TIMEOUT 100
+
+#define PLAYEFFECTREPREAT_BYTE 90
+#define SETNONVOLATILEEFFECTS_BYTE 88
+#define STATUS_BYTE 96
+#define STRING_BYTE 2
+
+hid_device *USBHIDImmersionTouchscreen::_devicehandle = NULL;
+
+USBHIDImmersionTouchscreen::USBHIDImmersionTouchscreen(void)
+{
+	if ((_devicehandle = hid_open(VID, PID, NULL)) == NULL)
+		throw "Cannot claim the device";
+}
+
+
+USBHIDImmersionTouchscreen::~USBHIDImmersionTouchscreen(void)
+{
+	if (_devicehandle)
+	{
+		hid_close(_devicehandle);
+		_devicehandle = NULL;
+	}
+}
+
+bool USBHIDImmersionTouchscreen::playEffect(unsigned char effect, unsigned char nbrepeat) const
+{
+	unsigned char buffer[35];
+	buffer[0] = PLAYEFFECTREPREAT_BYTE;
+	buffer[1] = effect;
+	buffer[2] = nbrepeat;
+	if (_devicehandle)
+		return hid_write(_devicehandle, buffer, 35);
+	else
+		return -1;
+}
+
+char * USBHIDImmersionTouchscreen::getStatus() const
+{
+	return NULL;
+}
diff --git a/TouchscreenButton/USBHIDImmersionTouchscreen.h b/TouchscreenButton/USBHIDImmersionTouchscreen.h
new file mode 100644
index 0000000..f40bb6a
--- /dev/null
+++ b/TouchscreenButton/USBHIDImmersionTouchscreen.h
@@ -0,0 +1,29 @@
+#ifndef __USBHIDINNERSIONTOUCHSCREEN__
+#define __USBHIDINNERSIONTOUCHSCREEN__
+
+#include <hidapi.h>
+
+class USBHIDImmersionTouchscreen
+{
+	public:
+		USBHIDImmersionTouchscreen(void);
+		~USBHIDImmersionTouchscreen(void);
+
+		/*
+			See documentation for list of effects (0-46), 255 for no effect
+			nbrepeats: 255 for infinite until other effect or no effect
+		*/
+		bool playEffect(unsigned char effect, unsigned char nbrepeat) const;
+		char *getStatus() const;
+		//bool setNonVolatileEffects() const;
+
+	private:
+		// Vendor ID and Product ID
+		static int VID;
+		static int PID;
+		//handle on the device
+		static hid_device *_devicehandle;
+};
+
+#endif
+
diff --git a/TouchscreenButton/Wristband.cpp b/TouchscreenButton/Wristband.cpp
new file mode 100644
index 0000000..8e7af34
--- /dev/null
+++ b/TouchscreenButton/Wristband.cpp
@@ -0,0 +1,37 @@
+#include "Wristband.h"
+
+#include <QDebug>
+
+Wristband::Wristband()
+{
+	try
+	{
+		_tactonplayer = new TactonPlayer("COM11");
+	}
+	catch(...)
+	{
+		qDebug() << "Cannot find the touchscreen or the wristband";
+		_tactonplayer = NULL;
+	}
+
+}
+
+
+Wristband::~Wristband()
+{
+	if (_tactonplayer)
+		delete _tactonplayer;
+}
+
+bool Wristband::playEffect(unsigned char effect, unsigned char nbrepeat) const
+{
+	for (int i = 0 ; i < nbrepeat ; i++)
+	{
+		_tactonplayer->play(_effects[effect]);
+		///TODO: add a pause
+	}
+}
+
+char *Wristband::getStatus() const
+{
+}
diff --git a/TouchscreenButton/Wristband.h b/TouchscreenButton/Wristband.h
new file mode 100644
index 0000000..aa6f0ce
--- /dev/null
+++ b/TouchscreenButton/Wristband.h
@@ -0,0 +1,25 @@
+#ifndef __WRISTBAND__
+#define __WRISTBAND__
+
+#include <TactonPlayer\TactonPlayer.hpp>
+
+class Wristband :
+	public TactonPlayer
+{
+	public:
+		Wristband(void);
+		~Wristband(void);
+
+		/*
+			Mimics Immersion touchscreen effects (0-46), 255 for no effect
+			nbrepeats: 255 for infinite until other effect or no effect
+		*/
+		bool playEffect(unsigned char effect, unsigned char nbrepeat) const;
+		char *getStatus() const;
+
+	private:
+		TactonPlayer *_tactonplayer;
+		Tacton _effects[46];
+};
+
+#endif
diff --git a/TouchscreenButton/main.cpp b/TouchscreenButton/main.cpp
new file mode 100644
index 0000000..fcc30a6
--- /dev/null
+++ b/TouchscreenButton/main.cpp
@@ -0,0 +1,10 @@
+#include "TouchscreenButton.h"
+#include <QtGui/QApplication>
+
+int main(int argc, char *argv[])
+{
+	QApplication a(argc, argv);
+	TouchscreenButton w;
+	w.show();
+	return a.exec();
+}
diff --git a/TouchscreenButton/touchscreenbutton.ui b/TouchscreenButton/touchscreenbutton.ui
new file mode 100644
index 0000000..7dfcac8
--- /dev/null
+++ b/TouchscreenButton/touchscreenbutton.ui
@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TouchscreenButtonClass</class>
+ <widget class="QMainWindow" name="TouchscreenButtonClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>345</width>
+    <height>191</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>TouchscreenButton</string>
+  </property>
+  <widget class="QWidget" name="centralWidget">
+   <layout class="QVBoxLayout" name="verticalLayout">
+    <item>
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="1">
+       <widget class="QSpinBox" name="_effect">
+        <property name="maximum">
+         <number>46</number>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>Effect:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QSpinBox" name="_repeats">
+        <property name="maximum">
+         <number>254</number>
+        </property>
+        <property name="value">
+         <number>1</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_2">
+        <property name="text">
+         <string>Repeats</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <widget class="QPushButton" name="_play">
+      <property name="font">
+       <font>
+        <pointsize>20</pointsize>
+       </font>
+      </property>
+      <property name="text">
+       <string>Play</string>
+      </property>
+     </widget>
+    </item>
+    <item>
+     <widget class="QPushButton" name="_stop">
+      <property name="font">
+       <font>
+        <pointsize>20</pointsize>
+       </font>
+      </property>
+      <property name="text">
+       <string>Stop</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources>
+  <include location="touchscreenbutton.qrc"/>
+ </resources>
+ <connections/>
+</ui>
-- 
2.30.2