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+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+  || (defined(__ibmxl__) || defined(__IBMC__))
+#  define C_DIALECT "90"
+# else
+#  define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+  "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/codes/Azure-Kinect-Samples/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/codes/Azure-Kinect-Samples/build/CMakeFiles/3.16.3/CompilerIdC/a.out
new file mode 100644
index 0000000..b5c91a3
Binary files /dev/null and b/codes/Azure-Kinect-Samples/build/CMakeFiles/3.16.3/CompilerIdC/a.out differ
diff --git a/codes/Azure-Kinect-Samples/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/codes/Azure-Kinect-Samples/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..69cfdba
--- /dev/null
+++ b/codes/Azure-Kinect-Samples/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
+#elif CXX_STD >= 201402L
+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
diff --git a/codes/Azure-Kinect-Samples/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out b/codes/Azure-Kinect-Samples/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out
new file mode 100644
index 0000000..2881803
Binary files /dev/null and b/codes/Azure-Kinect-Samples/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out differ
diff --git a/codes/Azure-Kinect-Samples/build/CMakeFiles/CMakeOutput.log b/codes/Azure-Kinect-Samples/build/CMakeFiles/CMakeOutput.log
new file mode 100644
index 0000000..b7f0f34
--- /dev/null
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+Compiler: /usr/bin/c++ 
+Build flags: 
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+
+The output was:
+0
+
+
+Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"
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+Change Dir: /mnt/g/working-projects/kinect/codes/Azure-Kinect-Samples/build/CMakeFiles/CMakeTmp
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+    arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o] ==> ignore
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/9] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib]
+    arg [-L/lib/x86_64-linux-gnu] ==> dir [/lib/x86_64-linux-gnu]
+    arg [-L/lib/../lib] ==> dir [/lib/../lib]
+    arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
+    arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..]
+    arg [CMakeFiles/cmTC_0534b.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
+    arg [-lstdc++] ==> lib [stdc++]
+    arg [-lm] ==> lib [m]
+    arg [-lgcc_s] ==> lib [gcc_s]
+    arg [-lgcc] ==> lib [gcc]
+    arg [-lc] ==> lib [c]
+    arg [-lgcc_s] ==> lib [gcc_s]
+    arg [-lgcc] ==> lib [gcc]
+    arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o] ==> ignore
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9] ==> [/usr/lib/gcc/x86_64-linux-gnu/9]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib] ==> [/usr/lib]
+  collapse library dir [/lib/x86_64-linux-gnu] ==> [/lib/x86_64-linux-gnu]
+  collapse library dir [/lib/../lib] ==> [/lib]
+  collapse library dir [/usr/lib/x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
+  collapse library dir [/usr/lib/../lib] ==> [/usr/lib]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> [/usr/lib]
+  implicit libs: [stdc++;m;gcc_s;gcc;c;gcc_s;gcc]
+  implicit dirs: [/usr/lib/gcc/x86_64-linux-gnu/9;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib]
+  implicit fwks: []
+
+
diff --git a/codes/Azure-Kinect-Samples/build/CMakeFiles/cmake.check_cache b/codes/Azure-Kinect-Samples/build/CMakeFiles/cmake.check_cache
new file mode 100644
index 0000000..3dccd73
--- /dev/null
+++ b/codes/Azure-Kinect-Samples/build/CMakeFiles/cmake.check_cache
@@ -0,0 +1 @@
+# This file is generated by cmake for dependency checking of the CMakeCache.txt file
diff --git a/codes/Kinect2Sample-master/.github/FUNDING.yml b/codes/Kinect2Sample-master/.github/FUNDING.yml
new file mode 100644
index 0000000..fe6c3b5
--- /dev/null
+++ b/codes/Kinect2Sample-master/.github/FUNDING.yml
@@ -0,0 +1,3 @@
+# These are supported funding model platforms
+
+github: [UnaNancyOwen] # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
diff --git a/codes/Kinect2Sample-master/HOWTOBUILD.md b/codes/Kinect2Sample-master/HOWTOBUILD.md
new file mode 100644
index 0000000..2833a60
--- /dev/null
+++ b/codes/Kinect2Sample-master/HOWTOBUILD.md
@@ -0,0 +1,74 @@
+How to Build Sample Program
+===================
+
+How to Install Tools and Libraries
+--------------------------------------
+* Visual Studio 2015  
+    In Visual Studio 2015, Visual C++ is not installed by default. When installing, be sure to choose Custom installation and then choose the C++ components you require.  
+    Or, if Visual Studio is already installed, choose [File]>[New]>[Project]>[C++] and you will be prompted to install the necessary components.  
+
+* Kinect for Windows SDK v2.0  
+    Please download installer, and install follow the instructions of installer.  
+
+* OpenCV 3.1.0  
+    Please download pre-built package, and unzip the self-extracting file.  
+    Then, Please placed OpenCV folder in any directory. ( e.g. <code>C:\Program Files\opencv</code> )  
+
+* CMake 3.6.1  
+    Please download installer, and install follow the instructions of installer.  
+
+* Speech Platform SDK 11 ( and Kinect for Windows SDK v2.0 Language Packs (en-US) )  
+    Please download installer for target platform, and install follow the instructions of installer.  
+
+How to Generate Project of Samples using CMake
+--------------------------------------------------------
+1. Run CMake GUI
+
+2. Fill These Fields
+    * **Where is the source code**  
+        This area is directory containing CMakeLists.txt file.  
+        If you want to build all samples, please fill path of sample directory. ( e.g. <code>C:/Kinect2Sample/sample</code> )  
+        If you want to build any one sample, please fill path of any one directory. ( e.g.  <code>C:/Kinect2Sample/sample/Color</code> )  
+
+    * **Where to build the binaries**  
+        This area is directory Visual Studio project files will be generated.  
+        By convention, Fill the path that added the <code>\/build</code> to  above path. ( e.g. <code>C:/Kinect2Sample/sample/build</code> )  
+
+3. Click Configure Button  
+    You will be prompted for compiler and target platform.  
+    Please specify compiler and target platform to use. ( e.g. <code>Visual Studio 14 2015 Win64</code> )  
+    Then, click finish button.  
+
+4. Fill Configuration Fields  
+    It will be entered almost automatically.  
+    Please check configuration settings.  
+    Then, click configure button.  
+    * **KINECTSDK\_DIR** ... The directory path of Kinect for Windows SDK v2.0 ( e.g. <code>C:/Program Files/Microsoft SDKs/Kinect/v2.0_1409</code> )  
+    * **OPENCV\_DIR** ... The directory path that to search CMake configuration file for OpenCV. ( e.g. <code>C:/Program Files/opencv/build</code> )  
+
+5. Click Generate Button  
+    If there is no errors, the Visual Studio project files will be generated into the "Where to build the binaries" directory.  
+
+6. Set Environment Variable  
+    You might need to add OpenCV binary directory path to environment variable "PATH" to be able to run applications. (e.g. <code>C:\Program Filesopencv\build\x64\vc14\bin</code> )  
+    The path that have to be added to environment variable will be displayed in output area of CMake GUI.  
+    This path is depend on Compiler, Target Platform and OpenCV Directory.  
+
+How to Build and Start Samples
+------------------------------------
+1. Open Visual Studio Solution File ( e.g. <code>..\build\Sample.sln</code> )  
+
+2. Set Solution Configurations  
+    Select Release from the Solution Configuration drop-down list, which is on the Standard toolbar.  ( e.g. <code>Release</code> )  
+    Release build will be enabled optimization by compiler.  
+
+3. Build Solution ( or Project )  
+    On the Build menu, Click "Build Solution".  
+    Or, In Solution Explorer, select the desired build target project within your solution. Then Click "Build Project".  
+
+4. Set Startup Project  
+    In Solution Explorer, select the desired startup project within your solution.  
+    On the Project menu, choose "Set as StartUp Project".  
+
+5. Start Without Debugging  
+    On the Debug menu, choose "Start Without Debugging".  
diff --git a/codes/Kinect2Sample-master/LICENSE b/codes/Kinect2Sample-master/LICENSE
new file mode 100644
index 0000000..484e9b4
--- /dev/null
+++ b/codes/Kinect2Sample-master/LICENSE
@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2016 Tsukasa Sugiura
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/codes/Kinect2Sample-master/README.md b/codes/Kinect2Sample-master/README.md
new file mode 100644
index 0000000..00ddfc3
--- /dev/null
+++ b/codes/Kinect2Sample-master/README.md
@@ -0,0 +1,38 @@
+
+Kinect for Windows SDK v2 Sample Program
+============================
+
+This repository is Sample Program of Kinect for Windows SDK v2 written in Native C++.  
+
+Environment
+--------------
+* Visual Studio Community 2015 <sup>*1</sup>
+* Kinect for Windows SDK v2.0
+* Kinect for Windows SDK v2.0 Language Packs (en-US)
+* Speech Platform SDK 11
+* OpenCV 3.1.0 <sup>*2</sup>
+* CMake 3.6.1 <sup>*3</sup>
+
+<sup>&#042;1 This sample program need Visual Studio Community (or upper version), because depends on ATL.</sup>  
+<sup>&#042;2 Pre-built OpenCV that is distributed by official team does not include library for Win32 (x86) target platform. If you want to build sample program for Win32 (x86) target platform, You need build OpenCV yourself. Similarly, If it does not include library for your target compiler, You need build OpenCV yourself.</sup>  
+<sup>&#042;3 You need generate project of this sample program using CMake. Please read [this document](HOWTOBUILD.md) about how to generate project using CMake.</sup>  
+
+License
+---------
+Copyright &copy; 2016 Tsukasa SUGIURA  
+Distributed under the [MIT License](http://www.opensource.org/licenses/mit-license.php "MIT License | Open Source Initiative").
+
+Contact
+---------
+* Tsukasa Sugiura  
+    * <t.sugiura0204@gmail.com>  
+    * <https://twitter.com/UnaNancyOwen>  
+    * <http://UnaNancyOwen.com>  
+
+Reference
+------------
+* KINECT for Windows SDK programming - Kinect for Windows v2 sensor supported version | Shuwa System Co.,Ltd.  
+  <http://www.shuwasystem.co.jp/products/7980html/4395.html>
+
+* Kinect for Windows SDK 2.0 | MSDN Library  
+  <https://msdn.microsoft.com/en-us/library/dn799271.aspx>
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBeam/CMakeLists.txt b/codes/Kinect2Sample-master/sample/AudioBeam/CMakeLists.txt
new file mode 100644
index 0000000..5cb94b7
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBeam/CMakeLists.txt
@@ -0,0 +1,23 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( AudioBeam app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "AudioBeam" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+if( KinectSDK2_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+
+  # Additional Dependencies
+  target_link_libraries( AudioBeam ${KinectSDK2_LIBRARIES} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBeam/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/AudioBeam/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBeam/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBeam/app.cpp b/codes/Kinect2Sample-master/sample/AudioBeam/app.cpp
new file mode 100644
index 0000000..8eb51b8
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBeam/app.cpp
@@ -0,0 +1,179 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+#include <iostream>
+#include <cmath>
+
+#include <ppl.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        if( GetKeyState( VK_ESCAPE ) < 0 ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Audio
+    initializeAudio();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+}
+
+// Initialize Audio
+inline void Kinect::initializeAudio()
+{
+    // Retrieve Audio Source
+    ComPtr<IAudioSource> audioSource;
+    ERROR_CHECK( kinect->get_AudioSource( &audioSource ) );
+
+    // Open Audio Beam Reader
+    ERROR_CHECK( audioSource->OpenReader( &audioBeamFrameReader ) );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Audio
+    updateAudio();
+}
+
+// Update Audio
+inline void Kinect::updateAudio()
+{
+    // Retrieve Audio Beam Frame List
+    ComPtr<IAudioBeamFrameList> audioBeamFrameList;
+    const HRESULT ret = audioBeamFrameReader->AcquireLatestBeamFrames( &audioBeamFrameList );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    //  Retrieve Audio Beam Frame Count
+    UINT beamCount = 0;
+    ERROR_CHECK( audioBeamFrameList->get_BeamCount( &beamCount ) );
+
+    Concurrency::parallel_for( 0, static_cast<int>( beamCount ), [&]( int i ){
+        // Retrieve Audio Beam Frame
+        ComPtr<IAudioBeamFrame> audioBeamFrame;
+        ERROR_CHECK( audioBeamFrameList->OpenAudioBeamFrame( i, &audioBeamFrame ) );
+
+        // Retrieve Audio Beam SubFrame Count
+        UINT subFrameCount = 0;
+        ERROR_CHECK( audioBeamFrame->get_SubFrameCount( &subFrameCount ) );
+
+        Concurrency::parallel_for( 0, static_cast<int>( subFrameCount ), [&]( int j ){
+            // Retrieve Audio Beam SubFrame
+            ComPtr<IAudioBeamSubFrame> audioBeamSubFrame;
+            ERROR_CHECK( audioBeamFrame->GetSubFrame( j, &audioBeamSubFrame ) );
+
+            // Retrieve Beam Angle ( Radian +/- 1.0 )
+            ERROR_CHECK( audioBeamSubFrame->get_BeamAngle( &beamAngle ) );
+
+            // Retrieve Beam Angle Confidence ( 0.0 - 1.0 )
+            ERROR_CHECK( audioBeamSubFrame->get_BeamAngleConfidence( &beamAngleConfidence ) );
+        } );
+    } );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Audio
+    drawAudio();
+}
+
+// Draw Audio
+inline void Kinect::drawAudio()
+{
+    // Clear Beam Angle Result Buffer
+    beamAngleResult.clear();
+
+    // Check Beam Angle Confidence
+    if( beamAngleConfidence > confidenceThreshold ){
+        // Convert Degree from Radian
+        const float degree = static_cast<float>( beamAngle * 180.0 / M_PI );
+
+        // Add Beam Angle to Result Buffer
+        beamAngleResult = std::to_string( degree ) + " (" + std::to_string( beamAngleConfidence ) + ")";
+    }
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Audio
+    showAudio();
+}
+
+// Show Audio
+inline void Kinect::showAudio()
+{
+    // Check Empty Result Buffer
+    if( !beamAngleResult.size() ){
+        return;
+    }
+
+    // Show Result
+    std::cout << beamAngleResult << std::endl;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBeam/app.h b/codes/Kinect2Sample-master/sample/AudioBeam/app.h
new file mode 100644
index 0000000..4b99b85
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBeam/app.h
@@ -0,0 +1,70 @@
+#ifndef __APP__
+#define __APP__
+
+#define _USE_MATH_DEFINES
+#include <Windows.h>
+#include <Kinect.h>
+
+#include <string>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Reader
+    ComPtr<IAudioBeamFrameReader> audioBeamFrameReader;
+
+    // Audio Buffer
+    float beamAngle = 0.f;
+    float beamAngleConfidence = 0.f;
+    std::string beamAngleResult;
+    const float confidenceThreshold = 0.3f;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Audio
+    inline void initializeAudio();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Audio
+    inline void updateAudio();
+
+    // Draw Data
+    void draw();
+
+    // Draw Audio
+    inline void drawAudio();
+
+    // Show Data
+    void show();
+
+    // Show Audio
+    inline void showAudio();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBeam/main.cpp b/codes/Kinect2Sample-master/sample/AudioBeam/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBeam/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBeam/util.h b/codes/Kinect2Sample-master/sample/AudioBeam/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBeam/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBody/CMakeLists.txt b/codes/Kinect2Sample-master/sample/AudioBody/CMakeLists.txt
new file mode 100644
index 0000000..6be74c4
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBody/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( AudioBody app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "AudioBody" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( AudioBody ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( AudioBody ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBody/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/AudioBody/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBody/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBody/app.cpp b/codes/Kinect2Sample-master/sample/AudioBody/app.cpp
new file mode 100644
index 0000000..59c1439
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBody/app.cpp
@@ -0,0 +1,308 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+#include <limits>
+
+#include <ppl.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Audio
+    initializeAudio();
+
+    // Initialize Body
+    initializeBody();
+
+    // Initialize BodyIndex
+    initializeBodyIndex();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+}
+
+// Initialize Audio
+inline void Kinect::initializeAudio()
+{
+    // Retrieve Audio Source
+    ComPtr<IAudioSource> audioSource;
+    ERROR_CHECK( kinect->get_AudioSource( &audioSource ) );
+
+    // Open Audio Beam Reader
+    ERROR_CHECK( audioSource->OpenReader( &audioBeamFrameReader ) );
+}
+
+// Initialize Body
+inline void Kinect::initializeBody()
+{
+    // Open Body Reader
+    ComPtr<IBodyFrameSource> bodyFrameSource;
+    ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
+    ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
+
+    // Initialize Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+}
+
+// Initialize BodyIndex
+inline void Kinect::initializeBodyIndex()
+{
+    // Open BodyIndex Reader
+    ComPtr<IBodyIndexFrameSource> bodyIndexFrameSource;
+    ERROR_CHECK( kinect->get_BodyIndexFrameSource( &bodyIndexFrameSource ) );
+    ERROR_CHECK( bodyIndexFrameSource->OpenReader( &bodyIndexFrameReader ) );
+
+    // Retrieve BodyIndex Description
+    ComPtr<IFrameDescription> bodyIndexFrameDescription;
+    ERROR_CHECK( bodyIndexFrameSource->get_FrameDescription( &bodyIndexFrameDescription ) );
+    ERROR_CHECK( bodyIndexFrameDescription->get_Width( &bodyIndexWidth ) ); // 512
+    ERROR_CHECK( bodyIndexFrameDescription->get_Height( &bodyIndexHeight ) ); // 424
+
+    // Allocation BodyIndex Buffer
+    bodyIndexBuffer.resize( bodyIndexWidth * bodyIndexHeight );
+
+    // Color Table for Visualization
+    colors[0] = cv::Vec3b( 255,   0,   0 ); // Blue
+    colors[1] = cv::Vec3b(   0, 255,   0 ); // Green
+    colors[2] = cv::Vec3b(   0,   0, 255 ); // Red
+    colors[3] = cv::Vec3b( 255, 255,   0 ); // Cyan
+    colors[4] = cv::Vec3b( 255,   0, 255 ); // Magenta
+    colors[5] = cv::Vec3b(   0, 255, 255 ); // Yellow
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Release Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Audio
+    updateAudio();
+
+    // Update Body
+    updateBody();
+
+    // Update BodyIndex
+    updateBodyIndex();
+}
+
+// Update Audio
+inline void Kinect::updateAudio()
+{
+    // Initialize Tracking ID
+    audioTrackingId = std::numeric_limits<unsigned long long>::max() - 1;
+
+    // Retrieve Audio Beam Frame List
+    ComPtr<IAudioBeamFrameList> audioBeamFrameList;
+    const HRESULT ret = audioBeamFrameReader->AcquireLatestBeamFrames( &audioBeamFrameList );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Audio Beam Frame Count
+    UINT beamCount = 0;
+    ERROR_CHECK( audioBeamFrameList->get_BeamCount( &beamCount ) );
+
+    for( int i = 0; i < beamCount; i++ ){
+        // Retrieve Audio Beam Frame
+        ComPtr<IAudioBeamFrame> audioBeamFrame;
+        ERROR_CHECK( audioBeamFrameList->OpenAudioBeamFrame( i, &audioBeamFrame ) );
+
+        // Retrieve Audio Beam SubFrame Count
+        UINT subFrameCount = 0;
+        ERROR_CHECK( audioBeamFrame->get_SubFrameCount( &subFrameCount ) );
+
+        for( int j = 0; j < subFrameCount; j++ ){
+            // Retrieve Audio Beam SubFrame
+            ComPtr<IAudioBeamSubFrame> audioBeamSubFrame;
+            ERROR_CHECK( audioBeamFrame->GetSubFrame( j, &audioBeamSubFrame ) );
+
+            // Retrieve Audio Body Correlation Count
+            UINT32 correlationCount;
+            ERROR_CHECK( audioBeamSubFrame->get_AudioBodyCorrelationCount( &correlationCount ) );
+
+            // Check Correlation Count
+            if( correlationCount == 0 ){
+                return;
+            }
+
+            // Retrieve First Audio Body Correlation
+            ComPtr<IAudioBodyCorrelation> audioBodyCorrelation;
+            ERROR_CHECK( audioBeamSubFrame->GetAudioBodyCorrelation( 0, &audioBodyCorrelation ) );
+
+            // Retrieve Tracking ID
+            ERROR_CHECK( audioBodyCorrelation->get_BodyTrackingId( &audioTrackingId ) );
+        }
+    }
+}
+
+// Update Body
+inline void Kinect::updateBody()
+{
+    // Initialize Tracking Index
+    audioTrackingIndex = -1;
+
+    // Check Tracking ID
+    if( audioTrackingId == std::numeric_limits<unsigned long long>::max() - 1 ){
+        return;
+    }
+
+    // Retrieve Body Frame
+    ComPtr<IBodyFrame> bodyFrame;
+    const HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Release Previous Bodies
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Retrieve Body Data
+    ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( static_cast<UINT>( bodies.size() ), &bodies[0] ) );
+
+    for( int count = 0; count < BODY_COUNT; count++ ){
+        // Retrive Tracking ID
+        UINT64 trackingId;
+        bodies[count]->get_TrackingId( &trackingId );
+
+        // Check Tracking ID
+        if( trackingId == audioTrackingId ){
+            audioTrackingIndex = count;
+            break;
+        }
+    }
+}
+
+// Update BodyIndex
+inline void Kinect::updateBodyIndex()
+{
+
+    // Retrieve BodyIndex Frame
+    ComPtr<IBodyIndexFrame> bodyIndexFrame;
+    const HRESULT ret = bodyIndexFrameReader->AcquireLatestFrame( &bodyIndexFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve BodyIndex Data
+    ERROR_CHECK( bodyIndexFrame->CopyFrameDataToArray( static_cast<UINT>( bodyIndexBuffer.size() ), &bodyIndexBuffer[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw BodyIndex
+    drawBodyIndex();
+}
+
+// Draw BodyIndex
+inline void Kinect::drawBodyIndex()
+{
+    // Check Tracking Index
+    if( audioTrackingIndex == -1 ){
+        return;
+    }
+
+    // Visualization BodyIndex
+    bodyIndexMat = cv::Mat::zeros( bodyIndexHeight, bodyIndexWidth, CV_8UC3 );
+    bodyIndexMat.forEach<cv::Vec3b>( [&]( cv::Vec3b &p, const int* position ){
+        uchar index = bodyIndexBuffer[position[0] * bodyIndexWidth + position[1]];
+        if( index == audioTrackingIndex ){
+            p = colors[index];
+        }
+    } );
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show BodyIndex
+    showBodyIndex();
+}
+
+// Show BodyIndex
+inline void Kinect::showBodyIndex()
+{
+    if( bodyIndexMat.empty() ){
+        return;
+    }
+
+    // Show Image
+    cv::imshow( "AudiBody", bodyIndexMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBody/app.h b/codes/Kinect2Sample-master/sample/AudioBody/app.h
new file mode 100644
index 0000000..a73feee
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBody/app.h
@@ -0,0 +1,96 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+#include <array>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Reader
+    ComPtr<IBodyFrameReader> bodyFrameReader;
+    ComPtr<IBodyIndexFrameReader> bodyIndexFrameReader;
+    ComPtr<IAudioBeamFrameReader> audioBeamFrameReader;
+
+    // Body Buffer
+    std::array<IBody*, BODY_COUNT> bodies = { nullptr };
+
+    // BodyIndex Buffer
+    std::vector<BYTE> bodyIndexBuffer;
+    int bodyIndexWidth;
+    int bodyIndexHeight;
+    cv::Mat bodyIndexMat;
+    std::array<cv::Vec3b, BODY_COUNT> colors;
+
+    // Audio Buffer
+    UINT64 audioTrackingId;
+    int audioTrackingIndex;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Body
+    inline void initializeBody();
+
+    // Initialize BodyIndex
+    inline void initializeBodyIndex();
+
+    // Initialize Audio
+    inline void initializeAudio();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Body
+    inline void updateBody();
+
+    // Update BodyIndex
+    inline void updateBodyIndex();
+
+    // Update Audio
+    inline void updateAudio();
+
+    // Draw Data
+    void draw();
+
+    // Draw BodyIndex
+    inline void drawBodyIndex();
+
+    // Draw Audio
+    inline void drawAudio();
+
+    // Show Data
+    void show();
+
+    // Show BodyIndex
+    inline void showBodyIndex();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBody/main.cpp b/codes/Kinect2Sample-master/sample/AudioBody/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBody/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/AudioBody/util.h b/codes/Kinect2Sample-master/sample/AudioBody/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/AudioBody/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Body/CMakeLists.txt b/codes/Kinect2Sample-master/sample/Body/CMakeLists.txt
new file mode 100644
index 0000000..d7d6afc
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Body/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( Body app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "Body" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( Body ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( Body ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Body/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/Body/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Body/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Body/app.cpp b/codes/Kinect2Sample-master/sample/Body/app.cpp
new file mode 100644
index 0000000..6f9a4ed
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Body/app.cpp
@@ -0,0 +1,335 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+#include <ppl.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Body
+    initializeBody();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Body
+inline void Kinect::initializeBody()
+{
+    // Open Body Reader
+    ComPtr<IBodyFrameSource> bodyFrameSource;
+    ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
+    ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
+
+    // Initialize Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Color Table for Visualization
+    colors[0] = cv::Vec3b( 255,   0,   0 ); // Blue
+    colors[1] = cv::Vec3b(   0, 255,   0 ); // Green
+    colors[2] = cv::Vec3b(   0,   0, 255 ); // Red
+    colors[3] = cv::Vec3b( 255, 255,   0 ); // Cyan
+    colors[4] = cv::Vec3b( 255,   0, 255 ); // Magenta
+    colors[5] = cv::Vec3b(   0, 255, 255 ); // Yellow
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Release Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Body
+    updateBody();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Body
+inline void Kinect::updateBody()
+{
+    // Retrieve Body Frame
+    ComPtr<IBodyFrame> bodyFrame;
+    const HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Release Previous Bodies
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Retrieve Body Data
+    ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( static_cast<UINT>( bodies.size() ), &bodies[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw Body
+    drawBody();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+}
+
+// Draw Body
+inline void Kinect::drawBody()
+{
+    // Draw Body Data to Color Data
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const ComPtr<IBody> body = bodies[count];
+        if( body == nullptr ){
+            return;
+        }
+
+        // Check Body Tracked
+        BOOLEAN tracked = FALSE;
+        ERROR_CHECK( body->get_IsTracked( &tracked ) );
+        if( !tracked ){
+            return;
+        }
+
+        // Retrieve Joints
+        std::array<Joint, JointType::JointType_Count> joints;
+        ERROR_CHECK( body->GetJoints( static_cast<UINT>( joints.size() ), &joints[0] ) );
+
+        Concurrency::parallel_for_each( joints.begin(), joints.end(), [&]( const Joint& joint ){
+            // Check Joint Tracked
+            if( joint.TrackingState == TrackingState::TrackingState_NotTracked ){
+                return;
+            }
+
+            // Draw Joint Position
+            drawEllipse( colorMat, joint, 5, colors[count] );
+
+            // Draw Left Hand State
+            if( joint.JointType == JointType::JointType_HandLeft ){
+                HandState handState;
+                TrackingConfidence handConfidence;
+                ERROR_CHECK( body->get_HandLeftState( &handState ) );
+                ERROR_CHECK( body->get_HandLeftConfidence( &handConfidence ) );
+
+                drawHandState( colorMat, joint, handState, handConfidence );
+            }
+
+            // Draw Right Hand State
+            if( joint.JointType == JointType::JointType_HandRight ){
+                HandState handState;
+                TrackingConfidence handConfidence;
+                ERROR_CHECK( body->get_HandRightState( &handState ) );
+                ERROR_CHECK( body->get_HandRightConfidence( &handConfidence ) );
+
+                drawHandState( colorMat, joint, handState, handConfidence );
+            }
+        } );
+
+        /*
+        // Retrieve Joint Orientations
+        std::array<JointOrientation, JointType::JointType_Count> orientations;
+        ERROR_CHECK( body->GetJointOrientations( JointType::JointType_Count, &orientations[0] ) );
+        */
+
+        /*
+        // Retrieve Amount of Body Lean
+        PointF amount;
+        ERROR_CHECK( body->get_Lean( &amount ) );
+        */
+    } );
+}
+
+// Draw Ellipse
+inline void Kinect::drawEllipse( cv::Mat& image, const Joint& joint, const int radius, const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Convert Coordinate System and Draw Joint
+    ColorSpacePoint colorSpacePoint;
+    ERROR_CHECK( coordinateMapper->MapCameraPointToColorSpace( joint.Position, &colorSpacePoint ) );
+    const int x = static_cast<int>( colorSpacePoint.X + 0.5f );
+    const int y = static_cast<int>( colorSpacePoint.Y + 0.5f );
+    if( ( 0 <= x ) && ( x < image.cols ) && ( 0 <= y ) && ( y < image.rows ) ){
+        cv::circle( image, cv::Point( x, y ), radius, static_cast<cv::Scalar>( color ), thickness, cv::LINE_AA );
+    }
+}
+
+// Draw Hand State
+inline void Kinect::drawHandState( cv::Mat& image, const Joint& joint, HandState handState, TrackingConfidence handConfidence )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Check Tracking Confidence
+    if( handConfidence != TrackingConfidence::TrackingConfidence_High ){
+        return;
+    }
+
+    // Draw Hand State 
+    const int radius = 75;
+    const cv::Vec3b blue = cv::Vec3b( 128, 0, 0 ), green = cv::Vec3b( 0, 128, 0 ), red = cv::Vec3b( 0, 0, 128 );
+    switch( handState ){
+        // Open
+        case HandState::HandState_Open:
+            drawEllipse( image, joint, radius, green, 5 );
+            break;
+        // Close
+        case HandState::HandState_Closed:
+            drawEllipse( image, joint, radius, red, 5 );
+            break;
+        // Lasso
+        case HandState::HandState_Lasso:
+            drawEllipse( image, joint, radius, blue, 5 );
+            break;
+        default:
+            break;
+    }
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Body
+    showBody();
+}
+
+// Show Body
+inline void Kinect::showBody()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Body", resizeMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Body/app.h b/codes/Kinect2Sample-master/sample/Body/app.h
new file mode 100644
index 0000000..f659522
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Body/app.h
@@ -0,0 +1,95 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+#include <array>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IBodyFrameReader> bodyFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Body Buffer
+    std::array<IBody*, BODY_COUNT> bodies = { nullptr };
+    std::array<cv::Vec3b, BODY_COUNT> colors;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Body
+    inline void initializeBody();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Body
+    inline void updateBody();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw Body
+    inline void drawBody();
+
+    // Draw Circle
+    inline void drawEllipse( cv::Mat& image, const Joint& joint, const int radius, const cv::Vec3b& color, const int thickness = -1 );
+
+    // Draw Hand State
+    inline void drawHandState( cv::Mat& image, const Joint& joint, HandState handState, TrackingConfidence handConfidence );
+
+    // Show Data
+    void show();
+
+    // Show Body
+    inline void showBody();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Body/main.cpp b/codes/Kinect2Sample-master/sample/Body/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Body/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Body/util.h b/codes/Kinect2Sample-master/sample/Body/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Body/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/BodyIndex/CMakeLists.txt b/codes/Kinect2Sample-master/sample/BodyIndex/CMakeLists.txt
new file mode 100644
index 0000000..89ffd22
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/BodyIndex/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( BodyIndex app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "BodyIndex" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( BodyIndex ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( BodyIndex ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/BodyIndex/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/BodyIndex/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/BodyIndex/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/BodyIndex/app.cpp b/codes/Kinect2Sample-master/sample/BodyIndex/app.cpp
new file mode 100644
index 0000000..41b81cd
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/BodyIndex/app.cpp
@@ -0,0 +1,165 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize BodyIndex
+    initializeBodyIndex();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+}
+
+// Initialize BodyIndex
+inline void Kinect::initializeBodyIndex()
+{
+    // Open BodyIndex Reader
+    ComPtr<IBodyIndexFrameSource> bodyIndexFrameSource;
+    ERROR_CHECK( kinect->get_BodyIndexFrameSource( &bodyIndexFrameSource ) );
+    ERROR_CHECK( bodyIndexFrameSource->OpenReader( &bodyIndexFrameReader ) );
+
+    // Retrieve BodyIndex Description
+    ComPtr<IFrameDescription> bodyIndexFrameDescription;
+    ERROR_CHECK( bodyIndexFrameSource->get_FrameDescription( &bodyIndexFrameDescription ) );
+    ERROR_CHECK( bodyIndexFrameDescription->get_Width( &bodyIndexWidth ) ); // 512
+    ERROR_CHECK( bodyIndexFrameDescription->get_Height( &bodyIndexHeight ) ); // 424
+    ERROR_CHECK( bodyIndexFrameDescription->get_BytesPerPixel( &bodyIndexBytesPerPixel ) ); // 1
+
+    // Allocation BodyIndex Buffer
+    bodyIndexBuffer.resize( bodyIndexWidth * bodyIndexHeight );
+
+    // Color Table for Visualization
+    colors[0] = cv::Vec3b( 255,   0,   0 ); // Blue
+    colors[1] = cv::Vec3b(   0, 255,   0 ); // Green
+    colors[2] = cv::Vec3b(   0,   0, 255 ); // Red
+    colors[3] = cv::Vec3b( 255, 255,   0 ); // Cyan
+    colors[4] = cv::Vec3b( 255,   0, 255 ); // Magenta
+    colors[5] = cv::Vec3b(   0, 255, 255 ); // Yellow
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update BodyIndex
+    updateBodyIndex();
+}
+
+// Update BodyIndex
+inline void Kinect::updateBodyIndex()
+{
+    // Retrieve BodyIndex Frame
+    ComPtr<IBodyIndexFrame> bodyIndexFrame;
+    const HRESULT ret = bodyIndexFrameReader->AcquireLatestFrame( &bodyIndexFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve BodyIndex Data
+    ERROR_CHECK( bodyIndexFrame->CopyFrameDataToArray( static_cast<UINT>( bodyIndexBuffer.size() ), &bodyIndexBuffer[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw BodyIndex
+    drawBodyIndex();
+}
+
+// Draw BodyIndex
+inline void Kinect::drawBodyIndex()
+{
+    // Visualization Color to Each Index
+    bodyIndexMat = cv::Mat::zeros( bodyIndexHeight, bodyIndexWidth, CV_8UC3 );
+    bodyIndexMat.forEach<cv::Vec3b>( [&]( cv::Vec3b &p, const int* position ){
+        uchar index = bodyIndexBuffer[position[0] * bodyIndexWidth + position[1]];
+        if( index != 0xff ){
+            p = colors[index];
+        }
+    } );
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show BodyIndex
+    showBodyIndex();
+}
+
+// Show BodyIndex
+inline void Kinect::showBodyIndex()
+{
+    // Show Image
+    cv::imshow( "BodyIndex", bodyIndexMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/BodyIndex/app.h b/codes/Kinect2Sample-master/sample/BodyIndex/app.h
new file mode 100644
index 0000000..5a5bf2d
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/BodyIndex/app.h
@@ -0,0 +1,74 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+#include <array>
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Reader
+    ComPtr<IBodyIndexFrameReader> bodyIndexFrameReader;
+
+    // BodyIndex Buffer
+    std::vector<BYTE> bodyIndexBuffer;
+    int bodyIndexWidth;
+    int bodyIndexHeight;
+    unsigned int bodyIndexBytesPerPixel;
+    cv::Mat bodyIndexMat;
+    std::array<cv::Vec3b, BODY_COUNT> colors;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize BodyIndex
+    inline void initializeBodyIndex();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update BodyIndex
+    inline void updateBodyIndex();
+
+    // Draw Data
+    void draw();
+
+    // Draw BodyIndex
+    inline void drawBodyIndex();
+
+    // Show Data
+    void show();
+
+    // Show BodyIndex
+    inline void showBodyIndex();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/BodyIndex/main.cpp b/codes/Kinect2Sample-master/sample/BodyIndex/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/BodyIndex/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/BodyIndex/util.h b/codes/Kinect2Sample-master/sample/BodyIndex/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/BodyIndex/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/CMakeLists.txt b/codes/Kinect2Sample-master/sample/CMakeLists.txt
new file mode 100644
index 0000000..20bd161
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/CMakeLists.txt
@@ -0,0 +1,32 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+
+# Set Binary Output Directory
+set( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin )
+
+# Sample Sub-Directories Name  
+set( SAMPLES Color Depth Infrared BodyIndex Body JointSmooth MultiSource CoordinateMapper Face HDFace Fusion Gesture Speech AudioBeam AudioBody ChromaKey FaceClip )
+
+# Sample Build Option
+foreach( SAMPLE ${SAMPLES} )
+  option( BUILD_${SAMPLE} "Build ${SAMPLE} Sample Project" ON )
+endforeach()
+
+# Sample Add Sub-Directories
+foreach( SAMPLE ${SAMPLES} )
+  if( BUILD_${SAMPLE} )
+    add_subdirectory( ${SAMPLE} )
+  endif()
+endforeach()
+
+# Adjust ( Copy Run-Time Files )
+if( BUILD_Speech )
+  file( COPY ${CMAKE_SOURCE_DIR}/Speech/Grammar_enUS.grxml DESTINATION ${CMAKE_BINARY_DIR}/bin )
+  file( COPY ${CMAKE_SOURCE_DIR}/Speech/Grammar_jaJP.grxml DESTINATION ${CMAKE_BINARY_DIR}/bin )
+endif()
+
+if( BUILD_Gesture )
+  file( COPY ${CMAKE_SOURCE_DIR}/Gesture/SampleDatabase.gbd DESTINATION ${CMAKE_BINARY_DIR}/bin )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/ChromaKey/CMakeLists.txt b/codes/Kinect2Sample-master/sample/ChromaKey/CMakeLists.txt
new file mode 100644
index 0000000..fbbe3a0
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/ChromaKey/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( ChromaKey app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "ChromaKey" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( ChromaKey ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( ChromaKey ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/ChromaKey/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/ChromaKey/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/ChromaKey/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/ChromaKey/app.cpp b/codes/Kinect2Sample-master/sample/ChromaKey/app.cpp
new file mode 100644
index 0000000..fadd399
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/ChromaKey/app.cpp
@@ -0,0 +1,351 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+#include <ppl.h>
+
+// Choose Resolution
+#define COLOR
+//#define DEPTH
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Depth
+    initializeDepth();
+
+    // Initialize BodyIndex
+    initializeBodyIndex();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Depth
+inline void Kinect::initializeDepth()
+{
+    // Open Depth Reader
+    ComPtr<IDepthFrameSource> depthFrameSource;
+    ERROR_CHECK( kinect->get_DepthFrameSource( &depthFrameSource ) );
+    ERROR_CHECK( depthFrameSource->OpenReader( &depthFrameReader ) );
+
+    // Retrieve Depth Description
+    ComPtr<IFrameDescription> depthFrameDescription;
+    ERROR_CHECK( depthFrameSource->get_FrameDescription( &depthFrameDescription ) );
+    ERROR_CHECK( depthFrameDescription->get_Width( &depthWidth ) ); // 512
+    ERROR_CHECK( depthFrameDescription->get_Height( &depthHeight ) ); // 424
+    ERROR_CHECK( depthFrameDescription->get_BytesPerPixel( &depthBytesPerPixel ) ); // 2
+
+    // Allocation Depth Buffer
+    depthBuffer.resize( depthWidth * depthHeight );
+}
+
+// Initialize BodyIndex
+inline void Kinect::initializeBodyIndex()
+{
+    // Open BodyIndex Reader
+    ComPtr<IBodyIndexFrameSource> bodyIndexFrameSource;
+    ERROR_CHECK( kinect->get_BodyIndexFrameSource( &bodyIndexFrameSource ) );
+    ERROR_CHECK( bodyIndexFrameSource->OpenReader( &bodyIndexFrameReader ) );
+
+    // Retrieve BodyIndex Description
+    ComPtr<IFrameDescription> bodyIndexFrameDescription;
+    ERROR_CHECK( bodyIndexFrameSource->get_FrameDescription( &bodyIndexFrameDescription ) );
+    ERROR_CHECK( bodyIndexFrameDescription->get_Width( &bodyIndexWidth ) ); // 512
+    ERROR_CHECK( bodyIndexFrameDescription->get_Height( &bodyIndexHeight ) ); // 424
+    ERROR_CHECK( bodyIndexFrameDescription->get_BytesPerPixel( &bodyIndexBytesPerPixel ) ); // 1
+
+    // Allocation BodyIndex Buffer
+    bodyIndexBuffer.resize( bodyIndexWidth * bodyIndexHeight );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Depth
+    updateDepth();
+
+    // Update BodyIndex
+    updateBodyIndex();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Depth
+inline void Kinect::updateDepth()
+{
+    // Retrieve Depth Frame
+    ComPtr<IDepthFrame> depthFrame;
+    const HRESULT ret = depthFrameReader->AcquireLatestFrame( &depthFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Depth Data
+    ERROR_CHECK( depthFrame->CopyFrameDataToArray( static_cast<UINT>( depthBuffer.size() ), &depthBuffer[0] ) );
+}
+
+// Update BodyIndex
+inline void Kinect::updateBodyIndex()
+{
+    // Retrieve BodyIndex Frame
+    ComPtr<IBodyIndexFrame> bodyIndexFrame;
+    const HRESULT ret = bodyIndexFrameReader->AcquireLatestFrame( &bodyIndexFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve BodyIndex Data
+    ERROR_CHECK( bodyIndexFrame->CopyFrameDataToArray( static_cast<UINT>( bodyIndexBuffer.size() ), &bodyIndexBuffer[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw BodyIndex
+    drawBodyIndex();
+
+    // Draw ChromaKey
+    drawChromaKey();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+#ifdef COLOR
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+#endif
+
+#ifdef DEPTH
+    // Retrieve Mapped Coordinates
+    std::vector<ColorSpacePoint> colorSpacePoints( depthWidth * depthHeight );
+    ERROR_CHECK( coordinateMapper->MapDepthFrameToColorSpace( depthBuffer.size(), &depthBuffer[0], colorSpacePoints.size(), &colorSpacePoints[0] ) );
+
+    // Mapping Color to Depth Resolution
+    std::vector<BYTE> buffer( depthWidth * depthHeight * colorBytesPerPixel );
+
+    Concurrency::parallel_for( 0, depthHeight, [&]( const int depthY ){
+        const unsigned int depthOffset = depthY * depthWidth;
+        for( int depthX = 0; depthX < depthWidth; depthX++ ){
+            unsigned int depthIndex = depthOffset + depthX;
+            const int colorX = static_cast<int>( colorSpacePoints[depthIndex].X + 0.5f );
+            const int colorY = static_cast<int>( colorSpacePoints[depthIndex].Y + 0.5f );
+            if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){
+                const unsigned int colorIndex = ( colorY * colorWidth + colorX ) * colorBytesPerPixel;
+                depthIndex = depthIndex * colorBytesPerPixel;
+                buffer[depthIndex + 0] = colorBuffer[colorIndex + 0];
+                buffer[depthIndex + 1] = colorBuffer[colorIndex + 1];
+                buffer[depthIndex + 2] = colorBuffer[colorIndex + 2];
+                buffer[depthIndex + 3] = colorBuffer[colorIndex + 3];
+            }
+        }
+    } );
+
+    // Create cv::Mat from Coordinate Buffer
+    colorMat = cv::Mat( depthHeight, depthWidth, CV_8UC4, &buffer[0] ).clone();
+#endif
+}
+
+// Draw BodyIndex
+inline void Kinect::drawBodyIndex()
+{
+#ifdef COLOR
+    // Retrieve Mapped Coordinates
+    std::vector<DepthSpacePoint> bodyIndexSpacePoints( colorWidth * colorHeight );
+    ERROR_CHECK( coordinateMapper->MapColorFrameToDepthSpace( depthBuffer.size(), &depthBuffer[0], bodyIndexSpacePoints.size(), &bodyIndexSpacePoints[0] ) );
+
+    // Mapping BodyIndex to Color Resolution
+    std::vector<BYTE> buffer( colorWidth * colorHeight, 0xff );
+
+    Concurrency::parallel_for( 0, colorHeight, [&]( const int colorY ){
+        const unsigned int colorOffset = colorY * colorWidth;
+        for( int colorX = 0; colorX < colorWidth; colorX++ ){
+            const unsigned int colorIndex = colorOffset + colorX;
+            const int bodyIndexX = static_cast<int>( bodyIndexSpacePoints[colorIndex].X + 0.5f );
+            const int bodyIndexY = static_cast<int>( bodyIndexSpacePoints[colorIndex].Y + 0.5f );
+            if( ( 0 <= bodyIndexX ) && ( bodyIndexX < bodyIndexWidth ) && ( 0 <= bodyIndexY ) && ( bodyIndexY < bodyIndexHeight ) ){
+                const unsigned char bodyIndex = bodyIndexBuffer[bodyIndexY * bodyIndexWidth + bodyIndexX];
+                buffer[colorIndex] = bodyIndex;
+            }
+        }
+    } );
+
+    // Create cv::Mat from Coordinate Buffer
+    bodyIndexMat = cv::Mat( colorHeight, colorWidth, CV_8UC1, &buffer[0] ).clone();
+#endif
+
+#ifdef DEPTH
+    // Create cv::Mat from BodyIndex Buffer
+    bodyIndexMat = cv::Mat( bodyIndexHeight, bodyIndexWidth, CV_8UC1, &bodyIndexBuffer[0] );
+#endif
+}
+
+// Draw ChromaKey
+inline void Kinect::drawChromaKey()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    if( bodyIndexMat.empty() ){
+        return;
+    }
+
+    // ChromaKey
+#ifdef COLOR
+    chromaKeyMat = cv::Mat::zeros( colorHeight, colorWidth, CV_8UC4 );
+#endif
+#ifdef DEPTH
+    chromaKeyMat = cv::Mat::zeros( depthHeight, depthWidth, CV_8UC4 );
+#endif
+    chromaKeyMat.forEach<cv::Vec4b>( [&]( cv::Vec4b &p, const int* position ){
+        uchar bodyIndex = bodyIndexMat.at<uchar>( position[0], position[1] );
+        if( bodyIndex != 0xff ){
+            p = colorMat.at<cv::Vec4b>( position[0], position[1] );
+        }
+    } );
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show ChromaKey
+    showChromaKey();
+}
+
+// Show ChromaKey
+inline void Kinect::showChromaKey()
+{
+    if( chromaKeyMat.empty() ){
+        return;
+    }
+
+#ifdef COLOR
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( chromaKeyMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "ChromaKey", resizeMat );
+#endif
+
+#ifdef DEPTH
+    // Show Image
+    cv::imshow( "ChromaKey", chromaKeyMat );
+#endif
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/ChromaKey/app.h b/codes/Kinect2Sample-master/sample/ChromaKey/app.h
new file mode 100644
index 0000000..1835bd9
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/ChromaKey/app.h
@@ -0,0 +1,110 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IDepthFrameReader> depthFrameReader;
+    ComPtr<IBodyIndexFrameReader> bodyIndexFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Depth Buffer
+    std::vector<UINT16> depthBuffer;
+    int depthWidth;
+    int depthHeight;
+    unsigned int depthBytesPerPixel;
+
+    // BodyIndex Buffer
+    std::vector<BYTE> bodyIndexBuffer;
+    int bodyIndexWidth;
+    int bodyIndexHeight;
+    unsigned int bodyIndexBytesPerPixel;
+    cv::Mat bodyIndexMat;
+
+    // ChromaKey Buffer
+    cv::Mat chromaKeyMat;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Depth
+    inline void initializeDepth();
+
+    // Initialize BodyIndex
+    inline void initializeBodyIndex();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Depth
+    inline void updateDepth();
+
+    // Update BodyIndex
+    inline void updateBodyIndex();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw BodyIndex
+    inline void drawBodyIndex();
+
+    // Draw ChromaKey
+    inline void drawChromaKey();
+
+    // Show Data
+    void show();
+
+    // Show ChromaKey
+    inline void showChromaKey();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/ChromaKey/main.cpp b/codes/Kinect2Sample-master/sample/ChromaKey/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/ChromaKey/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/ChromaKey/util.h b/codes/Kinect2Sample-master/sample/ChromaKey/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/ChromaKey/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Color/CMakeLists.txt b/codes/Kinect2Sample-master/sample/Color/CMakeLists.txt
new file mode 100644
index 0000000..6230a34
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Color/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( Color app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "Color" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( Color ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( Color ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Color/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/Color/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Color/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Color/app.cpp b/codes/Kinect2Sample-master/sample/Color/app.cpp
new file mode 100644
index 0000000..6ecc9a8
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Color/app.cpp
@@ -0,0 +1,160 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Color
+    showColor();
+}
+
+// Show Color
+inline void Kinect::showColor()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Color", resizeMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Color/app.h b/codes/Kinect2Sample-master/sample/Color/app.h
new file mode 100644
index 0000000..4843a5d
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Color/app.h
@@ -0,0 +1,71 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Show Data
+    void show();
+
+    // Show Color
+    inline void showColor();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Color/main.cpp b/codes/Kinect2Sample-master/sample/Color/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Color/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Color/util.h b/codes/Kinect2Sample-master/sample/Color/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Color/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/CoordinateMapper/CMakeLists.txt b/codes/Kinect2Sample-master/sample/CoordinateMapper/CMakeLists.txt
new file mode 100644
index 0000000..fecf614
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/CoordinateMapper/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( CoordinateMapper app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "CoordinateMapper" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( CoordinateMapper ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( CoordinateMapper ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/CoordinateMapper/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/CoordinateMapper/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/CoordinateMapper/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/CoordinateMapper/app.cpp b/codes/Kinect2Sample-master/sample/CoordinateMapper/app.cpp
new file mode 100644
index 0000000..554730b
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/CoordinateMapper/app.cpp
@@ -0,0 +1,307 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+#include <ppl.h>
+
+// Choose Resolution
+//#define COLOR
+#define DEPTH
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Depth
+    initializeDepth();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Depth
+inline void Kinect::initializeDepth()
+{
+    // Open Depth Reader
+    ComPtr<IDepthFrameSource> depthFrameSource;
+    ERROR_CHECK( kinect->get_DepthFrameSource( &depthFrameSource ) );
+    ERROR_CHECK( depthFrameSource->OpenReader( &depthFrameReader ) );
+
+    // Retrieve Depth Description
+    ComPtr<IFrameDescription> depthFrameDescription;
+    ERROR_CHECK( depthFrameSource->get_FrameDescription( &depthFrameDescription ) );
+    ERROR_CHECK( depthFrameDescription->get_Width( &depthWidth ) ); // 512
+    ERROR_CHECK( depthFrameDescription->get_Height( &depthHeight ) ); // 424
+    ERROR_CHECK( depthFrameDescription->get_BytesPerPixel( &depthBytesPerPixel ) ); // 2
+
+    // Allocation Depth Buffer
+    depthBuffer.resize( depthWidth * depthHeight );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Depth
+    updateDepth();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Depth
+inline void Kinect::updateDepth()
+{
+    // Retrieve Depth Frame
+    ComPtr<IDepthFrame> depthFrame;
+    const HRESULT ret = depthFrameReader->AcquireLatestFrame( &depthFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Depth Data
+    ERROR_CHECK( depthFrame->CopyFrameDataToArray( static_cast<UINT>( depthBuffer.size() ), &depthBuffer[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw Depth
+    drawDepth();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+#ifdef DEPTH
+    // Retrieve Mapped Coordinates
+    std::vector<ColorSpacePoint> colorSpacePoints( depthWidth * depthHeight );
+    ERROR_CHECK( coordinateMapper->MapDepthFrameToColorSpace( depthBuffer.size(), &depthBuffer[0], colorSpacePoints.size(), &colorSpacePoints[0] ) );
+
+    // Mapping Color to Depth Resolution
+    std::vector<BYTE> buffer( depthWidth * depthHeight * colorBytesPerPixel );
+
+    Concurrency::parallel_for( 0, depthHeight, [&]( const int depthY ){
+        const unsigned int depthOffset = depthY * depthWidth;
+        for( int depthX = 0; depthX < depthWidth; depthX++ ){
+            unsigned int depthIndex = depthOffset + depthX;
+            const int colorX = static_cast<int>( colorSpacePoints[depthIndex].X + 0.5f );
+            const int colorY = static_cast<int>( colorSpacePoints[depthIndex].Y + 0.5f );
+            if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){
+                const unsigned int colorIndex = ( colorY * colorWidth + colorX ) * colorBytesPerPixel;
+                depthIndex = depthIndex * colorBytesPerPixel;
+                buffer[depthIndex + 0] = colorBuffer[colorIndex + 0];
+                buffer[depthIndex + 1] = colorBuffer[colorIndex + 1];
+                buffer[depthIndex + 2] = colorBuffer[colorIndex + 2];
+                buffer[depthIndex + 3] = colorBuffer[colorIndex + 3];
+            }
+        }
+    } );
+
+    // Create cv::Mat from Coordinate Buffer
+    colorMat = cv::Mat( depthHeight, depthWidth, CV_8UC4, &buffer[0] ).clone();
+#else
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0]);
+#endif
+
+}
+
+// Draw Depth
+inline void Kinect::drawDepth()
+{
+#ifdef COLOR
+    // Retrieve Mapped Coordinates
+    std::vector<DepthSpacePoint> depthSpacePoints( colorWidth * colorHeight );
+    ERROR_CHECK( coordinateMapper->MapColorFrameToDepthSpace( depthBuffer.size(), &depthBuffer[0], depthSpacePoints.size(), &depthSpacePoints[0] ) );
+
+    // Mapping Depth to Color Resolution
+    std::vector<UINT16> buffer( colorWidth * colorHeight );
+
+    Concurrency::parallel_for( 0, colorHeight, [&]( const int colorY ){
+        const unsigned int colorOffset = colorY * colorWidth;
+        for( int colorX = 0; colorX < colorWidth; colorX++ ){
+            const unsigned int colorIndex = colorOffset + colorX;
+            const int depthX = static_cast<int>( depthSpacePoints[colorIndex].X + 0.5f );
+            const int depthY = static_cast<int>( depthSpacePoints[colorIndex].Y + 0.5f );
+            if( ( 0 <= depthX ) && ( depthX < depthWidth ) && ( 0 <= depthY ) && ( depthY < depthHeight ) ){
+                const unsigned int depthIndex = depthY * depthWidth + depthX;
+                buffer[colorIndex] = depthBuffer[depthIndex];
+            }
+        }
+    } );
+
+    // Create cv::Mat from Coordinate Buffer
+    depthMat = cv::Mat( colorHeight, colorWidth, CV_16UC1, &buffer[0] ).clone();
+#else
+    // Create cv::Mat from Depth Buffer
+    depthMat = cv::Mat( depthHeight, depthWidth, CV_16UC1, &depthBuffer[0]);
+#endif
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Color
+    showColor();
+
+    // Show Depth
+    showDepth();
+}
+
+// Show Color
+inline void Kinect::showColor()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+#ifdef COLOR
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Color", resizeMat );
+#else
+    // Show Image
+    cv::imshow( "Color", colorMat );
+#endif
+}
+
+// Show Depth
+inline void Kinect::showDepth()
+{
+    if( depthMat.empty() ){
+        return;
+    }
+
+    // Scaling ( 0-8000 -> 255-0 )
+    cv::Mat scaleMat;
+    depthMat.convertTo( scaleMat, CV_8U, -255.0 / 8000.0, 255.0 );
+    //cv::applyColorMap( scaleMat, scaleMat, cv::COLORMAP_BONE );
+
+#ifdef COLOR
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( scaleMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Depth", resizeMat );
+#else
+    // Show Image
+    cv::imshow( "Depth", scaleMat );
+#endif
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/CoordinateMapper/app.h b/codes/Kinect2Sample-master/sample/CoordinateMapper/app.h
new file mode 100644
index 0000000..d598f68
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/CoordinateMapper/app.h
@@ -0,0 +1,94 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IDepthFrameReader> depthFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Depth Buffer
+    std::vector<UINT16> depthBuffer;
+    int depthWidth;
+    int depthHeight;
+    unsigned int depthBytesPerPixel;
+    cv::Mat depthMat;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Depth
+    inline void initializeDepth();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Depth
+    inline void updateDepth();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw Depth
+    inline void drawDepth();
+
+    // Show Data
+    void show();
+
+    // Show Color
+    inline void showColor();
+
+    // Show Depth
+    inline void showDepth();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/CoordinateMapper/main.cpp b/codes/Kinect2Sample-master/sample/CoordinateMapper/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/CoordinateMapper/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/CoordinateMapper/util.h b/codes/Kinect2Sample-master/sample/CoordinateMapper/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/CoordinateMapper/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Depth/CMakeLists.txt b/codes/Kinect2Sample-master/sample/Depth/CMakeLists.txt
new file mode 100644
index 0000000..1b42d61
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Depth/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( Depth app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "Depth" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( Depth ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( Depth ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Depth/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/Depth/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Depth/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Depth/app.cpp b/codes/Kinect2Sample-master/sample/Depth/app.cpp
new file mode 100644
index 0000000..4eb9472
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Depth/app.cpp
@@ -0,0 +1,167 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Depth
+    initializeDepth();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+}
+
+// Initialize Depth
+inline void Kinect::initializeDepth()
+{
+    // Open Depth Reader
+    ComPtr<IDepthFrameSource> depthFrameSource;
+    ERROR_CHECK( kinect->get_DepthFrameSource( &depthFrameSource ) );
+    ERROR_CHECK( depthFrameSource->OpenReader( &depthFrameReader ) );
+
+    // Retrieve Depth Description
+    ComPtr<IFrameDescription> depthFrameDescription;
+    ERROR_CHECK( depthFrameSource->get_FrameDescription( &depthFrameDescription ) );
+    ERROR_CHECK( depthFrameDescription->get_Width( &depthWidth ) ); // 512
+    ERROR_CHECK( depthFrameDescription->get_Height( &depthHeight ) ); // 424
+    ERROR_CHECK( depthFrameDescription->get_BytesPerPixel( &depthBytesPerPixel ) ); // 2
+
+    // Retrieve Depth Reliable Range
+    UINT16 minReliableDistance;
+    UINT16 maxReliableDistance;
+    ERROR_CHECK( depthFrameSource->get_DepthMinReliableDistance( &minReliableDistance ) ); // 500
+    ERROR_CHECK( depthFrameSource->get_DepthMaxReliableDistance( &maxReliableDistance ) ); // 4500
+    std::cout << "Depth Reliable Range : " << minReliableDistance << " - " << maxReliableDistance << std::endl;
+
+    // Allocation Depth Buffer
+    depthBuffer.resize( depthWidth * depthHeight );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Depth
+    updateDepth();
+}
+
+// Update Depth
+inline void Kinect::updateDepth()
+{
+    // Retrieve Depth Frame
+    ComPtr<IDepthFrame> depthFrame;
+    const HRESULT ret = depthFrameReader->AcquireLatestFrame( &depthFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Depth Data
+    ERROR_CHECK( depthFrame->CopyFrameDataToArray( static_cast<UINT>( depthBuffer.size() ), &depthBuffer[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Depth
+    drawDepth();
+}
+
+// Draw Depth
+inline void Kinect::drawDepth()
+{
+    // Create cv::Mat from Depth Buffer
+    depthMat = cv::Mat( depthHeight, depthWidth, CV_16UC1, &depthBuffer[0] );
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Depth
+    showDepth();
+}
+
+// Show Depth
+inline void Kinect::showDepth()
+{
+    if( depthMat.empty() ){
+        return;
+    }
+
+    // Scaling ( 0-8000 -> 255-0 )
+    cv::Mat scaleMat;
+    depthMat.convertTo( scaleMat, CV_8U, -255.0 / 8000.0, 255.0 );
+    //cv::applyColorMap( scaleMat, scaleMat, cv::COLORMAP_BONE );
+
+    // Show Image
+    cv::imshow( "Depth", scaleMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Depth/app.h b/codes/Kinect2Sample-master/sample/Depth/app.h
new file mode 100644
index 0000000..0afc2f0
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Depth/app.h
@@ -0,0 +1,71 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Reader
+    ComPtr<IDepthFrameReader> depthFrameReader;
+
+    // Depth Buffer
+    std::vector<UINT16> depthBuffer;
+    int depthWidth;
+    int depthHeight;
+    unsigned int depthBytesPerPixel;
+    cv::Mat depthMat;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Depth
+    inline void initializeDepth();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Depth
+    inline void updateDepth();
+
+    // Draw Data
+    void draw();
+
+    // Draw Depth
+    inline void drawDepth();
+
+    // Show Data
+    void show();
+
+    // Show Depth
+    inline void showDepth();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Depth/main.cpp b/codes/Kinect2Sample-master/sample/Depth/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Depth/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Depth/util.h b/codes/Kinect2Sample-master/sample/Depth/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Depth/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Face/CMakeLists.txt b/codes/Kinect2Sample-master/sample/Face/CMakeLists.txt
new file mode 100644
index 0000000..ee899c6
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Face/CMakeLists.txt
@@ -0,0 +1,47 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( Face app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "Face" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+set( KinectSDK2_FACE TRUE )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( Face ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( Face ${OpenCV_LIBS} )
+
+  # Post Build Event
+  add_custom_command( TARGET Face POST_BUILD ${KinectSDK2_COMMANDS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Face/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/Face/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Face/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Face/app.cpp b/codes/Kinect2Sample-master/sample/Face/app.cpp
new file mode 100644
index 0000000..334314b
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Face/app.cpp
@@ -0,0 +1,440 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include <ppl.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Body
+    initializeBody();
+
+    // Initialize Face
+    initializeFace();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Body
+inline void Kinect::initializeBody()
+{
+    // Open Body Reader
+    ComPtr<IBodyFrameSource> bodyFrameSource;
+    ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
+    ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
+
+    // Initialize Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+}
+
+// Initialize Face
+inline void Kinect::initializeFace()
+{
+    // Set Face Features to Enable
+    const DWORD features =
+        FaceFrameFeatures::FaceFrameFeatures_BoundingBoxInColorSpace
+      | FaceFrameFeatures::FaceFrameFeatures_PointsInColorSpace
+      | FaceFrameFeatures::FaceFrameFeatures_RotationOrientation
+      | FaceFrameFeatures::FaceFrameFeatures_Happy
+      | FaceFrameFeatures::FaceFrameFeatures_RightEyeClosed
+      | FaceFrameFeatures::FaceFrameFeatures_LeftEyeClosed
+      | FaceFrameFeatures::FaceFrameFeatures_MouthOpen
+      | FaceFrameFeatures::FaceFrameFeatures_MouthMoved
+      | FaceFrameFeatures::FaceFrameFeatures_LookingAway
+      | FaceFrameFeatures::FaceFrameFeatures_Glasses
+      | FaceFrameFeatures::FaceFrameFeatures_FaceEngagement;
+
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        // Create Face Sources
+        ComPtr<IFaceFrameSource> faceFrameSource;
+        ERROR_CHECK( CreateFaceFrameSource( kinect.Get(), 0, features, &faceFrameSource ) );
+
+        // Open Face Readers
+        ERROR_CHECK( faceFrameSource->OpenReader( &faceFrameReader[count] ) );
+    } );
+
+    // Color Table for Visualization
+    colors[0] = cv::Vec3b( 255,   0,   0 ); // Blue
+    colors[1] = cv::Vec3b(   0, 255,   0 ); // Green
+    colors[2] = cv::Vec3b(   0,   0, 255 ); // Red
+    colors[3] = cv::Vec3b( 255, 255,   0 ); // Cyan
+    colors[4] = cv::Vec3b( 255,   0, 255 ); // Magenta
+    colors[5] = cv::Vec3b(   0, 255, 255 ); // Yellow
+
+    // Face Property Label Text Table for Display
+    labels[0] = "Happy";
+    labels[1] = "Engaged";
+    labels[2] = "WearingGlasses";
+    labels[3] = "LeftEyeClosed";
+    labels[4] = "RightEyeClosed";
+    labels[5] = "MouthOpen";
+    labels[6] = "MouthMoved";
+    labels[7] = "LookingAway";
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Release Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Body
+    updateBody();
+
+    // Update Face
+    updateFace();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Body
+inline void Kinect::updateBody()
+{
+    // Retrieve Body Frame
+    ComPtr<IBodyFrame> bodyFrame;
+    const HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Release Previous Bodies
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Retrieve Body Data
+    ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( static_cast<UINT>( bodies.size() ), &bodies[0] ) );
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const ComPtr<IBody> body = bodies[count];
+        BOOLEAN tracked;
+        ERROR_CHECK( body->get_IsTracked( &tracked ) );
+        if( !tracked ){
+            return;
+        }
+
+        // Retrieve Tracking ID
+        UINT64 trackingId;
+        ERROR_CHECK( body->get_TrackingId( &trackingId ) );
+
+        // Registration Tracking ID
+        ComPtr<IFaceFrameSource> faceFrameSource;
+        ERROR_CHECK( faceFrameReader[count]->get_FaceFrameSource( &faceFrameSource ) );
+        ERROR_CHECK( faceFrameSource->put_TrackingId( trackingId ) );
+    } );
+}
+
+// Update Face
+inline void Kinect::updateFace()
+{
+    // ReSet Results
+    results.fill( nullptr );
+
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        // Retrieve Face Frame
+        ComPtr<IFaceFrame> faceFrame;
+        const HRESULT ret = faceFrameReader[count]->AcquireLatestFrame( &faceFrame );
+        if( FAILED( ret ) ){
+            return;
+        }
+
+        // Check Tracking ID is Valid
+        BOOLEAN tracked;
+        ERROR_CHECK( faceFrame->get_IsTrackingIdValid( &tracked ) );
+        if( !tracked ){
+            return;
+        }
+
+        // Release Previous Face Result and Retrieve Face Result
+        ERROR_CHECK( faceFrame->get_FaceFrameResult( &results[count] ) );
+    } );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw Face
+    drawFace();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+}
+
+// Draw Face
+inline void Kinect::drawFace()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const ComPtr<IFaceFrameResult> result = results[count];
+        if( result == nullptr ){
+            return;
+        }
+
+        // Retrieve Face Points
+        std::array<PointF, FacePointType::FacePointType_Count> facePoints;
+        ERROR_CHECK( result->GetFacePointsInColorSpace( FacePointType::FacePointType_Count, &facePoints[0] ) );
+        drawFacePoints( colorMat, facePoints, 5, colors[count] );
+
+        // Retrieve Face Bounding Box
+        RectI boundingBox;
+        ERROR_CHECK( result->get_FaceBoundingBoxInColorSpace( &boundingBox ) );
+        drawFaceBoundingBox( colorMat, boundingBox, colors[count] );
+
+        // Retrieve Face Rotation Quaternion
+        Vector4 rotationQuaternion;
+        ERROR_CHECK( result->get_FaceRotationQuaternion( &rotationQuaternion ) );
+        drawFaceRotation( colorMat, rotationQuaternion, boundingBox, 1.0, colors[count] );
+
+        // Retrieve Face Properties
+        std::array<DetectionResult, FaceProperty::FaceProperty_Count> detectionResults;
+        ERROR_CHECK( result->GetFaceProperties( FaceProperty::FaceProperty_Count, &detectionResults[0] ) );
+        drawFaceProperties( colorMat, detectionResults, boundingBox, 1.0, colors[count] );
+    } );
+}
+
+// Draw Face Points
+inline void Kinect::drawFacePoints( cv::Mat& image, const std::array<PointF, FacePointType::FacePointType_Count>& points, const int radius, const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Draw Points
+    Concurrency::parallel_for_each( points.begin(), points.end(), [&]( const PointF point ){
+        const int x = static_cast<int>( point.X + 0.5f );
+        const int y = static_cast<int>( point.Y + 0.5f );
+        cv::circle( image, cv::Point( x, y ), radius, static_cast<cv::Scalar>( color ), thickness, cv::LINE_AA );
+    } );
+}
+
+// Draw Face Bounding Box
+inline void Kinect::drawFaceBoundingBox( cv::Mat& image, const RectI& box, const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Draw Bounding Box
+    const int width = box.Right - box.Left;
+    const int height = box.Bottom - box.Top;
+    cv::rectangle( image, cv::Rect( box.Left, box.Top, width, height ), color, thickness, cv::LINE_AA );
+}
+
+// Draw Face Rotation Quaternion
+inline void Kinect::drawFaceRotation( cv::Mat& image, Vector4& quaternion, const RectI& box, const double fontScale,const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Convert Quaternion to Degree
+    int pitch, yaw, roll;
+    quaternion2degree( &quaternion, &pitch, &yaw, &roll );
+
+    // Draw Rotation
+    const int offset = 30;
+    if( box.Left && box.Bottom ){
+        std::string rotation = "Pitch, Yaw, Roll : " + std::to_string( pitch ) + ", " + std::to_string( yaw ) + ", " + std::to_string( roll );
+        cv::putText( image, rotation, cv::Point( box.Left, box.Bottom + offset ), cv::FONT_HERSHEY_SIMPLEX, fontScale, color, thickness, cv::LINE_AA );
+    }
+}
+
+// Convert Quaternion to Degree
+inline void Kinect::quaternion2degree( const Vector4* quaternion, int* pitch, int* yaw, int* roll )
+{
+    const double x = quaternion->x;
+    const double y = quaternion->y;
+    const double z = quaternion->z;
+    const double w = quaternion->w;
+
+    *pitch = static_cast<int>( std::atan2( 2 * ( y * z + w * x ), w * w - x * x - y * y + z * z ) / M_PI * 180.0f );
+    *yaw = static_cast<int>( std::asin( 2 * ( w * y - x * z ) ) / M_PI * 180.0f );
+    *roll = static_cast<int>( std::atan2( 2 * ( x * y + w * z ), w * w + x * x - y * y - z * z ) / M_PI * 180.0f );
+}
+
+// Draw Face Properties
+inline void Kinect::drawFaceProperties( cv::Mat& image, std::array<DetectionResult, FaceProperty::FaceProperty_Count>& results, const RectI& box, const double fontScale, const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Draw Properties
+    int offset = 30;
+    for( int count = 0; count < FaceProperty::FaceProperty_Count; count++ ){
+        if( box.Left && box.Bottom ){
+            offset += 30;
+            std::string result = labels[count] + " : " + result2string( results[count] );
+            cv::putText( image, result, cv::Point( box.Left, box.Bottom + offset ), cv::FONT_HERSHEY_SIMPLEX, fontScale, color, thickness, cv::LINE_AA );
+        }
+    }
+}
+
+// Convert Detection Result to String
+inline std::string Kinect::result2string( DetectionResult& result )
+{
+    switch( result ){
+        case DetectionResult::DetectionResult_Yes:
+            return "Yes";
+        case DetectionResult::DetectionResult_Maybe:
+            return "Maybe";
+        case DetectionResult::DetectionResult_No:
+            return "No";
+        case DetectionResult::DetectionResult_Unknown:
+            return "Unknown";
+        default:
+            std::runtime_error( "not detection result of face property" );
+    }
+
+    return "";
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Face
+    showFace();
+}
+
+// Show Face
+inline void Kinect::showFace()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Face", resizeMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Face/app.h b/codes/Kinect2Sample-master/sample/Face/app.h
new file mode 100644
index 0000000..43b4e43
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Face/app.h
@@ -0,0 +1,121 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <Kinect.Face.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+#include <array>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+#include <array>
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IBodyFrameReader> bodyFrameReader;
+    std::array<ComPtr<IFaceFrameReader>, BODY_COUNT> faceFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Body Buffer
+    std::array<IBody*, BODY_COUNT> bodies = { nullptr };
+
+    // Face Buffer
+    std::array<ComPtr<IFaceFrameResult>, BODY_COUNT> results;
+    std::array<std::string, FaceProperty::FaceProperty_Count> labels;
+    std::array<cv::Vec3b, BODY_COUNT> colors;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Body
+    inline void initializeBody();
+
+    // Initialize Face
+    inline void initializeFace();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Body
+    inline void updateBody();
+
+    // Update Face
+    inline void updateFace();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw Face
+    inline void drawFace();
+
+    // Draw Face Points
+    inline void drawFacePoints( cv::Mat& image, const std::array<PointF, FacePointType::FacePointType_Count>& points, const int radius, const cv::Vec3b& color, const int thickness = -1 );
+
+    // Draw Face Bounding Box
+    inline void drawFaceBoundingBox( cv::Mat& image, const RectI& box, const cv::Vec3b& color, const int thickness = 1 );
+
+    // Draw Face Rotation
+    inline void drawFaceRotation( cv::Mat& image, Vector4& quaternion, const RectI& box, const double fontScale, const cv::Vec3b& color, const int thickness = 2 );
+
+    // Convert Quaternion to Degree
+    inline void quaternion2degree( const Vector4* quaternion, int* pitch, int* yaw, int* roll );
+
+    // Draw Face Properties
+    inline void drawFaceProperties( cv::Mat& image, std::array<DetectionResult, FaceProperty::FaceProperty_Count>& detections, const RectI& box, const double fontScale, const cv::Vec3b& color, const int thickness = 2 );
+
+    // Convert Detection Result to String
+    inline std::string Kinect::result2string( DetectionResult& result );
+
+    // Show Data
+    void show();
+
+    // Show Face
+    inline void showFace();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Face/main.cpp b/codes/Kinect2Sample-master/sample/Face/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Face/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Face/util.h b/codes/Kinect2Sample-master/sample/Face/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Face/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceClip/CMakeLists.txt b/codes/Kinect2Sample-master/sample/FaceClip/CMakeLists.txt
new file mode 100644
index 0000000..386d74e
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceClip/CMakeLists.txt
@@ -0,0 +1,47 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( FaceClip app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "FaceClip" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+set( KinectSDK2_FACE TRUE )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( FaceClip ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( FaceClip ${OpenCV_LIBS} )
+
+  # Post Build Event
+  add_custom_command( TARGET FaceClip POST_BUILD ${KinectSDK2_COMMANDS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceClip/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/FaceClip/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceClip/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceClip/app.cpp b/codes/Kinect2Sample-master/sample/FaceClip/app.cpp
new file mode 100644
index 0000000..929a4b4
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceClip/app.cpp
@@ -0,0 +1,312 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include <ppl.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE || GetKeyState( VK_ESCAPE ) < 0 ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Body
+    initializeBody();
+
+    // Initialize Face
+    initializeFace();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Body
+inline void Kinect::initializeBody()
+{
+    // Open Body Reader
+    ComPtr<IBodyFrameSource> bodyFrameSource;
+    ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
+    ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
+
+    // Initialize Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+}
+
+// Initialize Face
+inline void Kinect::initializeFace()
+{
+    // Set Face Features to Enable
+    const DWORD features =
+        FaceFrameFeatures::FaceFrameFeatures_BoundingBoxInColorSpace;
+
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        // Create Face Sources
+        ComPtr<IFaceFrameSource> faceFrameSource;
+        ERROR_CHECK( CreateFaceFrameSource( kinect.Get(), 0, features, &faceFrameSource ) );
+
+        // Open Face Readers
+        ERROR_CHECK( faceFrameSource->OpenReader( &faceFrameReader[count] ) );
+    } );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Release Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Body
+    updateBody();
+
+    // Update Face
+    updateFace();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Body
+inline void Kinect::updateBody()
+{
+    // Retrieve Body Frame
+    ComPtr<IBodyFrame> bodyFrame;
+    const HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Release Previous Bodies
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Retrieve Body Data
+    ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( static_cast<UINT>( bodies.size() ), &bodies[0] ) );
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const ComPtr<IBody> body = bodies[count];
+        BOOLEAN tracked;
+        ERROR_CHECK( body->get_IsTracked( &tracked ) );
+        if( !tracked ){
+            return;
+        }
+
+        // Retrieve Tracking ID
+        UINT64 trackingId;
+        ERROR_CHECK( body->get_TrackingId( &trackingId ) );
+
+        // Registration Tracking ID
+        ComPtr<IFaceFrameSource> faceFrameSource;
+        ERROR_CHECK( faceFrameReader[count]->get_FaceFrameSource( &faceFrameSource ) );
+        ERROR_CHECK( faceFrameSource->put_TrackingId( trackingId ) );
+    } );
+}
+
+// Update Face
+inline void Kinect::updateFace()
+{
+    // ReSet Results
+    results.fill( nullptr );
+
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        // Retrieve Face Frame
+        ComPtr<IFaceFrame> faceFrame;
+        const HRESULT ret = faceFrameReader[count]->AcquireLatestFrame( &faceFrame );
+        if( FAILED( ret ) ){
+            return;
+        }
+
+        // Check Tracking ID is Valid
+        BOOLEAN tracked;
+        ERROR_CHECK( faceFrame->get_IsTrackingIdValid( &tracked ) );
+        if( !tracked ){
+            return;
+        }
+
+        // Release Previous Face Result and Retrieve Face Result
+        ERROR_CHECK( faceFrame->get_FaceFrameResult( &results[count] ) );
+    } );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw Face Clip
+    drawFaceClip();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+}
+
+// Draw Face
+inline void Kinect::drawFaceClip()
+{
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const ComPtr<IFaceFrameResult> result = results[count];
+        if( result == nullptr ){
+            return;
+        }
+
+        // Retrieve Bounding Box
+        RectI boundingBox;
+        ERROR_CHECK( result->get_FaceBoundingBoxInColorSpace( &boundingBox ) );
+
+        // Retrieve Face Clip using Bounding Box
+        retrieveFaceClip( faceClipMat[count], boundingBox );
+    } );
+}
+
+// Retrieve Face Clip
+inline void Kinect::retrieveFaceClip( cv::Mat& image, const RectI& box )
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Retrieve Face Clip using Bounding Box
+    const int width = box.Right - box.Left;
+    const int height = box.Bottom - box.Top;
+    image = colorMat( cv::Rect( box.Left, box.Top, width, height ) ).clone();
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Face Clip
+    showFaceClip();
+}
+
+// Show Face Clip
+inline void Kinect::showFaceClip()
+{
+    for( int count = 0; count < BODY_COUNT; count++ ){
+        if( faceClipMat[count].empty() ){
+            cv::destroyWindow( "Face" + std::to_string( count ) );
+            continue;
+        }
+
+        // Resize Clip to Constant Size
+        cv::resize( faceClipMat[count], faceClipMat[count], cv::Size( 200, 200 ) );
+
+        // Show Image
+        cv::imshow( "Face" + std::to_string( count ), faceClipMat[count] );
+    }
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceClip/app.h b/codes/Kinect2Sample-master/sample/FaceClip/app.h
new file mode 100644
index 0000000..1a9c9ce
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceClip/app.h
@@ -0,0 +1,105 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <Kinect.Face.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+#include <array>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+#include <array>
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IBodyFrameReader> bodyFrameReader;
+    std::array<ComPtr<IFaceFrameReader>, BODY_COUNT> faceFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Body Buffer
+    std::array<IBody*, BODY_COUNT> bodies = { nullptr };
+
+    // Face Buffer
+    std::array<ComPtr<IFaceFrameResult>, BODY_COUNT> results;
+    std::array<cv::Mat, BODY_COUNT> faceClipMat;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Body
+    inline void initializeBody();
+
+    // Initialize Face
+    inline void initializeFace();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Body
+    inline void updateBody();
+
+    // Update Face
+    inline void updateFace();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw Face Clip
+    inline void drawFaceClip();
+
+    // Retrieve Face Clip
+    inline void retrieveFaceClip( cv::Mat& image, const RectI& box );
+
+    // Show Data
+    void show();
+
+    // Show Face Clip
+    inline void showFaceClip();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceClip/main.cpp b/codes/Kinect2Sample-master/sample/FaceClip/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceClip/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceClip/util.h b/codes/Kinect2Sample-master/sample/FaceClip/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceClip/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceRecognition/CMakeLists.txt b/codes/Kinect2Sample-master/sample/FaceRecognition/CMakeLists.txt
new file mode 100644
index 0000000..0c278b4
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceRecognition/CMakeLists.txt
@@ -0,0 +1,54 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( FaceRecognition app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "FaceRecognition" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+set( KinectSDK2_FACE TRUE )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Required Face Module
+if( OpenCV_FOUND )
+  if( NOT "opencv_face" IN_LIST OpenCV_LIBS )
+    message( FATAL_ERROR "not found opencv_face module." )
+  endif()
+endif()
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( FaceRecognition ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( FaceRecognition ${OpenCV_LIBS} )
+
+  # Post Build Event
+  add_custom_command( TARGET FaceRecognition POST_BUILD ${KinectSDK2_COMMANDS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceRecognition/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/FaceRecognition/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceRecognition/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceRecognition/app.cpp b/codes/Kinect2Sample-master/sample/FaceRecognition/app.cpp
new file mode 100644
index 0000000..73e0f8e
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceRecognition/app.cpp
@@ -0,0 +1,410 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include <ppl.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Body
+    initializeBody();
+
+    // Initialize Face
+    initializeFace();
+
+    // Initialize Recognition
+    initializeRecognition();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Body
+inline void Kinect::initializeBody()
+{
+    // Open Body Reader
+    ComPtr<IBodyFrameSource> bodyFrameSource;
+    ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
+    ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
+
+    // Initialize Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+}
+
+// Initialize Face
+inline void Kinect::initializeFace()
+{
+    // Set Face Features to Enable
+    const DWORD features = FaceFrameFeatures::FaceFrameFeatures_BoundingBoxInColorSpace;
+
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        // Create Face Sources
+        ComPtr<IFaceFrameSource> faceFrameSource;
+        ERROR_CHECK( CreateFaceFrameSource( kinect.Get(), 0, features, &faceFrameSource ) );
+
+        // Open Face Readers
+        ERROR_CHECK( faceFrameSource->OpenReader( &faceFrameReader[count] ) );
+    } );
+}
+
+// Initialize Recognition
+inline void Kinect::initializeRecognition()
+{
+    // Create Recognizer
+    //recognizer = cv::face::createFisherFaceRecognizer();
+    //recognizer = cv::face::createEigenFaceRecognizer();
+    recognizer = cv::face::createLBPHFaceRecognizer();
+
+    // Load Recognizer
+    recognizer->load( model );
+    if( recognizer.empty() ){
+        throw std::runtime_error( "failed cv::face::FaceRecognizer::load()" );
+    }
+
+    // Set Distance Threshold
+    recognizer->setThreshold( threshold );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Release Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Body
+    updateBody();
+
+    // Update Face
+    updateFace();
+
+    // Update Recognition
+    updateRecognition();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Body
+inline void Kinect::updateBody()
+{
+    // Retrieve Body Frame
+    ComPtr<IBodyFrame> bodyFrame;
+    const HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Release Previous Bodies
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Retrieve Body Data
+    ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( static_cast<UINT>( bodies.size() ), &bodies[0] ) );
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const ComPtr<IBody> body = bodies[count];
+        BOOLEAN tracked;
+        ERROR_CHECK( body->get_IsTracked( &tracked ) );
+        if( !tracked ){
+            return;
+        }
+
+        // Retrieve Tracking ID
+        UINT64 trackingId;
+        ERROR_CHECK( body->get_TrackingId( &trackingId ) );
+
+        // Registration Tracking ID
+        ComPtr<IFaceFrameSource> faceFrameSource;
+        ERROR_CHECK( faceFrameReader[count]->get_FaceFrameSource( &faceFrameSource ) );
+        ERROR_CHECK( faceFrameSource->put_TrackingId( trackingId ) );
+    } );
+}
+
+// Update Face
+inline void Kinect::updateFace()
+{
+    // ReSet Results
+    results.fill( nullptr );
+
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        // Retrieve Face Frame
+        ComPtr<IFaceFrame> faceFrame;
+        const HRESULT ret = faceFrameReader[count]->AcquireLatestFrame( &faceFrame );
+        if( FAILED( ret ) ){
+            return;
+        }
+
+        // Check Tracking ID is Valid
+        BOOLEAN tracked;
+        ERROR_CHECK( faceFrame->get_IsTrackingIdValid( &tracked ) );
+        if( !tracked ){
+            return;
+        }
+
+        // Release Previous Face Result and Retrieve Face Result
+        ERROR_CHECK( faceFrame->get_FaceFrameResult( &results[count] ) );
+    } );
+}
+
+// Update Recognition
+inline void Kinect::updateRecognition()
+{
+    // Create cv::Mat from Color Buffer
+    cv::Mat colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // ReSet Labels and Distances
+    labels.fill( -1 );
+    distances.fill( 0.0 );
+
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const ComPtr<IFaceFrameResult> result = results[count];
+        if( result == nullptr ){
+            return;
+        }
+
+        // Retrieve Face Bounding Box
+        RectI boundingBox;
+        ERROR_CHECK( result->get_FaceBoundingBoxInColorSpace( &boundingBox ) );
+
+        // Retrieve Face
+        const cv::Rect roi = { boundingBox.Left, boundingBox.Top, ( boundingBox.Right - boundingBox.Left ), ( boundingBox.Bottom - boundingBox.Top ) };
+        cv::Mat faceMat = colorMat( roi ).clone();
+        if( faceMat.empty() ){
+            return;
+        }
+
+        // Resize
+        //cv::resize( faceMat, faceMat, cv::Size( 200, 200 ) );
+
+        // Convert BGRA to Gray
+        cv::cvtColor( faceMat, faceMat, cv::COLOR_BGRA2GRAY );
+
+        // Recognition
+        recognizer->predict( faceMat, labels[count], distances[count] );
+    } );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw Recognition
+    drawRecognition();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+}
+
+// Draw Recognition
+inline void Kinect::drawRecognition()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const ComPtr<IFaceFrameResult> result = results[count];
+        if( result == nullptr ){
+            return;
+        }
+
+        std::cout << count << std::endl;
+
+        // Retrieve Label and Distance
+        const int label = labels[count];
+        const double distance = distances[count];
+
+        // Set Draw Color by Recognition Results
+        const cv::Vec3b color = ( label != -1 ) ? cv::Vec3b( 0, 255, 0 ) : cv::Vec3b( 0, 0, 255 );
+
+        // Draw Face Bounding Box
+        RectI boundingBox;
+        ERROR_CHECK( result->get_FaceBoundingBoxInColorSpace( &boundingBox ) );
+        drawFaceBoundingBox( colorMat, boundingBox, color );
+
+        // Draw Recognition Results
+        drawRecognitionResults( colorMat, label, distance, cv::Point( boundingBox.Left, boundingBox.Top ), 1.0, color );
+    } );
+}
+
+// Draw Face Bounding Box
+inline void Kinect::drawFaceBoundingBox( cv::Mat& image, const RectI& box, const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Draw Bounding Box
+    const int width = box.Right - box.Left;
+    const int height = box.Bottom - box.Top;
+    cv::rectangle( image, cv::Rect( box.Left, box.Top, width, height ), color, thickness, cv::LINE_AA );
+}
+
+// Draw Recognition Results
+inline void Kinect::drawRecognitionResults( cv::Mat& image, const int label, const double distance, const cv::Point& point, const double scale, const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Set Recognition Results
+    std::string result;
+    if( label != -1 ){
+        result = std::to_string( label ) + " (" + std::to_string( distance ) + ")";
+        //result = recognizer->getLabelInfo( label );
+    }
+    else{
+        result = "Unknown";
+    }
+
+    // Draw Recognition Results
+    cv::putText( image, result, point, cv::FONT_HERSHEY_SIMPLEX, scale, color, thickness, cv::LINE_AA );
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Recognition
+    showRecognition();
+}
+
+// Show Recognition
+inline void Kinect::showRecognition()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Recognition", resizeMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceRecognition/app.h b/codes/Kinect2Sample-master/sample/FaceRecognition/app.h
new file mode 100644
index 0000000..5d44856
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceRecognition/app.h
@@ -0,0 +1,122 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <Kinect.Face.h>
+#include <opencv2/opencv.hpp>
+#include <opencv2/face.hpp>
+
+#include <vector>
+#include <array>
+#include <string>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+#include <array>
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IBodyFrameReader> bodyFrameReader;
+    std::array<ComPtr<IFaceFrameReader>, BODY_COUNT> faceFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Body Buffer
+    std::array<IBody*, BODY_COUNT> bodies = { nullptr };
+
+    // Face Buffer
+    std::array<ComPtr<IFaceFrameResult>, BODY_COUNT> results;
+
+    // Face Recognition
+    cv::Ptr<cv::face::FaceRecognizer> recognizer;
+    const std::string model = "../model.xml"; // Pre-Trained Model File Path ( *.xml or *.yaml )
+    const double threshold = 40.0; // Max Matching Distance
+    std::array<int, BODY_COUNT> labels;
+    std::array<double, BODY_COUNT> distances;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Body
+    inline void initializeBody();
+
+    // Initialize Face
+    inline void initializeFace();
+
+    // Initialize Recognition
+    inline void initializeRecognition();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Body
+    inline void updateBody();
+
+    // Update Face
+    inline void updateFace();
+
+    // Update Recognition
+    inline void updateRecognition();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw Recognition
+    inline void drawRecognition();
+
+    // Draw Face Bounding Box
+    inline void drawFaceBoundingBox( cv::Mat& image, const RectI& box, const cv::Vec3b& color, const int thickness = 1 );
+
+    // Draw Recognition Results
+    inline void drawRecognitionResults( cv::Mat& image, const int label, const double distance, const cv::Point& point, const double scale, const cv::Vec3b& color, const int thickness = 2 );
+
+    // Show Data
+    void show();
+
+    // Show Recognition
+    inline void showRecognition();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceRecognition/main.cpp b/codes/Kinect2Sample-master/sample/FaceRecognition/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceRecognition/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/FaceRecognition/util.h b/codes/Kinect2Sample-master/sample/FaceRecognition/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/FaceRecognition/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Fusion/CMakeLists.txt b/codes/Kinect2Sample-master/sample/Fusion/CMakeLists.txt
new file mode 100644
index 0000000..7d5dcd2
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Fusion/CMakeLists.txt
@@ -0,0 +1,47 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( Fusion app.h app.cpp main.cpp util.h KinectFusionHelper.h KinectFusionHelper.cpp )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "Fusion" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+set( KinectSDK2_FUSION TRUE )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( Fusion ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( Fusion ${OpenCV_LIBS} )
+
+  # Post Build Event
+  add_custom_command( TARGET Fusion POST_BUILD ${KinectSDK2_COMMANDS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Fusion/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/Fusion/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Fusion/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Fusion/KinectFusionHelper.cpp b/codes/Kinect2Sample-master/sample/Fusion/KinectFusionHelper.cpp
new file mode 100644
index 0000000..3dedb35
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Fusion/KinectFusionHelper.cpp
@@ -0,0 +1,1524 @@
+//------------------------------------------------------------------------------
+// <copyright file="KinectFusionHelper.cpp" company="Microsoft">
+//     Copyright (c) Microsoft Corporation.  All rights reserved.
+// </copyright>
+//------------------------------------------------------------------------------
+
+// System includes
+//#include "stdafx.h"
+#include <atlbase.h>
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <vector>
+#include <stdio.h>
+#include <string.h>
+#include <locale>
+#include <codecvt>
+
+#pragma warning(push)
+#pragma warning(disable:6255)
+#pragma warning(disable:6263)
+#pragma warning(disable:4995)
+#include "ppl.h"
+#pragma warning(pop)
+
+// Project includes
+#include "KinectFusionHelper.h"
+
+/// <summary>
+/// Set Identity in a Matrix4
+/// </summary>
+/// <param name="mat">The matrix to set to identity</param>
+void SetIdentityMatrix(Matrix4 &mat)
+{
+    mat.M11 = 1; mat.M12 = 0; mat.M13 = 0; mat.M14 = 0;
+    mat.M21 = 0; mat.M22 = 1; mat.M23 = 0; mat.M24 = 0;
+    mat.M31 = 0; mat.M32 = 0; mat.M33 = 1; mat.M34 = 0;
+    mat.M41 = 0; mat.M42 = 0; mat.M43 = 0; mat.M44 = 1;
+}
+
+/// <summary>
+/// Extract translation Vector3 from the Matrix4 4x4 transformation in M41,M42,M43
+/// </summary>
+/// <param name="transform">The transform matrix.</param>
+/// <param name="translation">Array of 3 floating point values for translation.</param>
+void ExtractVector3Translation(const Matrix4 &transform, _Out_cap_c_(3) float *translation)
+{
+    translation[0] = transform.M41;
+    translation[1] = transform.M42;
+    translation[2] = transform.M43;
+}
+
+/// <summary>
+/// Extract translation Vector3 from the 4x4 Matrix in M41,M42,M43
+/// </summary>
+/// <param name="transform">The transform matrix.</param>
+/// <returns>Returns a Vector3 containing the translation.</returns>
+Vector3 ExtractVector3Translation(const Matrix4 &transform)
+{
+    Vector3 translation;
+    translation.x = transform.M41;
+    translation.y = transform.M42;
+    translation.z = transform.M43;
+    return translation;
+}
+
+/// <summary>
+/// Extract 3x3 rotation from the 4x4 Matrix and return in new Matrix4
+/// </summary>
+/// <param name="transform">The transform matrix.</param>
+/// <returns>Returns a Matrix4 containing the rotation.</returns>
+Matrix4 Extract3x3Rotation(const Matrix4 &transform)
+{
+    Matrix4 rotation;
+
+    rotation.M11 = transform.M11;
+    rotation.M12 = transform.M12;
+    rotation.M13 = transform.M13;
+    rotation.M14 = 0;
+
+    rotation.M21 = transform.M21;
+    rotation.M22 = transform.M22;
+    rotation.M23 = transform.M23;
+    rotation.M24 = 0;
+
+    rotation.M31 = transform.M31;
+    rotation.M32 = transform.M32;
+    rotation.M33 = transform.M33;
+    rotation.M34 = 0;
+
+    rotation.M41 = 0;
+    rotation.M42 = 0;
+    rotation.M43 = 0;
+    rotation.M44 = 1;
+
+    return rotation;
+}
+
+/// <summary>
+/// Extract 3x3 rotation matrix from the Matrix4 4x4 transformation:
+/// Then convert to Euler angles.
+/// </summary>
+/// <param name="transform">The transform matrix.</param>
+/// <param name="rotation">Array of 3 floating point values for euler angles.</param>
+void ExtractRot2Euler(const Matrix4 &transform, _Out_cap_c_(3) float *rotation)
+{
+    float phi = atan2f(transform.M23, transform.M33);
+    float theta = asinf(-transform.M13);
+    float psi = atan2f(transform.M12, transform.M11);
+
+    rotation[0] = phi;    // This is rotation about x,y,z, or pitch, yaw, roll respectively
+    rotation[1] = theta;
+    rotation[2] = psi;
+}
+
+/// <summary>
+/// Test whether the camera moved too far between sequential frames by looking at starting and end transformation matrix.
+/// We assume that if the camera moves or rotates beyond a reasonable threshold, that we have lost track.
+/// Note that on lower end machines, if the processing frame rate decreases below 30Hz, this limit will potentially have
+/// to be increased as frames will be dropped and hence there will be a greater motion between successive frames.
+/// </summary>
+/// <param name="T_initial">The transform matrix from the previous frame.</param>
+/// <param name="T_final">The transform matrix from the current frame.</param>
+/// <param name="maxTrans">The maximum translation in meters we expect per x,y,z component between frames under normal motion.</param>
+/// <param name="maxRotDegrees">The maximum rotation in degrees we expect about the x,y,z axes between frames under normal motion.</param>
+/// <returns>true if camera transformation is greater than the threshold, otherwise false</returns>
+bool CameraTransformFailed(const Matrix4 &T_initial, const Matrix4 &T_final, float maxTrans, float maxRotDegrees)
+{
+    // Check if the transform is too far out to be reasonable 
+    float deltaTrans = maxTrans;
+    float angDeg = maxRotDegrees;
+    float deltaRot = (angDeg * (float)M_PI) / 180.0f;
+
+    // Calculate the deltas
+    float eulerInitial[3];
+    float eulerFinal[3];
+
+    ExtractRot2Euler(T_initial, eulerInitial);
+    ExtractRot2Euler(T_final, eulerFinal);
+
+    float transInitial[3];
+    float transFinal[3];
+
+    ExtractVector3Translation(T_initial, transInitial);
+    ExtractVector3Translation(T_final, transFinal);
+
+    bool failRot = false;
+    bool failTrans = false;
+
+    float rDeltas[3];
+    float tDeltas[3];
+
+    static const float pi = static_cast<float>(M_PI);
+
+    for (int i = 0; i < 3; i++)
+    {
+        // Handle when one angle is near PI, and the other is near -PI.
+        if (eulerInitial[i] >= (pi - deltaRot) && eulerFinal[i] < (deltaRot - pi))
+        {
+            eulerInitial[i] -= pi * 2;
+        }
+        else if (eulerFinal[i] >= (pi - deltaRot) && eulerInitial[i] < (deltaRot - pi))
+        {
+            eulerFinal[i] -= pi * 2;
+        }
+
+        rDeltas[i] = eulerInitial[i] - eulerFinal[i];
+        tDeltas[i] = transInitial[i] - transFinal[i];
+
+        if (fabs(rDeltas[i]) > deltaRot)
+        {
+            failRot = true;
+            break;
+        }
+        if (fabs(tDeltas[i]) > deltaTrans)
+        {
+            failTrans = true;
+            break;
+        }
+    }
+
+    return failRot || failTrans;
+}
+
+/// <summary>
+/// Invert/Transpose the 3x3 Rotation Matrix Component of a 4x4 matrix
+/// </summary>
+/// <param name="rot">The rotation matrix to invert.</param>
+void InvertRotation(Matrix4 &rot)
+{
+    // Invert equivalent to a transpose for 3x3 rotation rotrices when orthogonal
+    float tmp = rot.M12;
+    rot.M12 = rot.M21;
+    rot.M21 = tmp;
+
+    tmp = rot.M13;
+    rot.M13 = rot.M31;
+    rot.M31 = tmp;
+
+    tmp = rot.M23;
+    rot.M23 = rot.M32;
+    rot.M32 = tmp;
+}
+
+/// <summary>
+/// Negate the 3x3 Rotation Matrix Component of a 4x4 matrix
+/// </summary>
+/// <param name="rot">The rotation matrix to negate.</param>
+void NegateRotation(Matrix4 &rot)
+{
+    rot.M11 = -rot.M11;
+    rot.M12 = -rot.M12;
+    rot.M13 = -rot.M13;
+
+    rot.M21 = -rot.M21;
+    rot.M22 = -rot.M22;
+    rot.M23 = -rot.M23;
+
+    rot.M31 = -rot.M31;
+    rot.M32 = -rot.M32;
+    rot.M33 = -rot.M33;
+}
+
+/// <summary>
+/// Rotate a vector with the 3x3 Rotation Matrix Component of a 4x4 matrix
+/// </summary>
+/// <param name="vec">The Vector3 to rotate.</param>
+/// <param name="rot">Rotation matrix.</param>
+Vector3 RotateVector(const Vector3 &vec, const Matrix4 & rot)
+{
+    // we only use the rotation component here
+    Vector3 result;
+
+    result.x = (rot.M11 * vec.x) + (rot.M21 * vec.y) + (rot.M31 * vec.z);
+    result.y = (rot.M12 * vec.x) + (rot.M22 * vec.y) + (rot.M32 * vec.z);
+    result.z = (rot.M13 * vec.x) + (rot.M23 * vec.y) + (rot.M33 * vec.z);
+
+    return result;
+}
+/// <summary>
+/// Invert Matrix4 Pose either from WorldToCameraTransform (view) matrix to CameraToWorldTransform camera pose matrix (world/SE3) or vice versa
+/// </summary>
+/// <param name="transform">The camera pose transform matrix.</param>
+/// <returns>Returns a Matrix4 containing the inverted camera pose.</returns>
+Matrix4 InvertMatrix4Pose(const Matrix4 &transform)
+{
+    // Given the SE3 world transform transform T = [R|t], the inverse view transform matrix is simply:
+    // T^-1 = [R^T | -R^T . t ]
+    // This also works the opposite way to get the world transform, given the view transform matrix.
+    Matrix4 rotation = Extract3x3Rotation(transform);
+
+    Matrix4 invRotation = rotation;
+    InvertRotation(invRotation);  // invert(transpose) 3x3 rotation
+
+    Matrix4 negRotation = invRotation;
+    NegateRotation(negRotation);  // negate 3x3 rotation
+
+    Vector3 translation = ExtractVector3Translation(transform);
+    Vector3 invTranslation = RotateVector(translation, negRotation);
+
+    // Add the translation back in
+    invRotation.M41 = invTranslation.x;
+    invRotation.M42 = invTranslation.y;
+    invRotation.M43 = invTranslation.z;
+
+    return invRotation;
+}
+
+/// <summary>
+/// Write Binary .STL file
+/// see http://en.wikipedia.org/wiki/STL_(file_format) for STL format
+/// </summary>
+/// <param name="mesh">The Kinect Fusion mesh object.</param>
+/// <param name="lpOleFileName">The full path and filename of the file to save.</param>
+/// <param name="flipYZ">Flag to determine whether the Y and Z values are flipped on save.</param>
+/// <returns>indicates success or failure</returns>
+HRESULT WriteBinarySTLMeshFile(INuiFusionColorMesh *mesh, LPOLESTR lpOleFileName, bool flipYZ)
+{
+    HRESULT hr = S_OK;
+
+    if (NULL == mesh)
+    {
+        return E_INVALIDARG;
+    }
+
+    unsigned int numVertices = mesh->VertexCount();
+    unsigned int numTriangleIndices = mesh->TriangleVertexIndexCount();
+    unsigned int numTriangles = numVertices / 3;
+
+    if (0 == numVertices || 0 == numTriangleIndices || 0 != numVertices % 3 || numVertices != numTriangleIndices)
+    {
+        return E_INVALIDARG;
+    }
+
+    const Vector3 *vertices = NULL;
+    hr = mesh->GetVertices(&vertices);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    const Vector3 *normals = NULL;
+    hr = mesh->GetNormals(&normals);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    const int *triangleIndices = NULL;
+    hr = mesh->GetTriangleIndices(&triangleIndices);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    // Open File
+    std::string filename  = std::wstring_convert<std::codecvt_utf8<wchar_t>>().to_bytes(lpOleFileName);
+    FILE *meshFile = NULL;
+    errno_t err = fopen_s(&meshFile, filename.c_str(), "wb");
+
+    // Could not open file for writing - return
+    if (0 != err || NULL == meshFile)
+    {
+        return E_ACCESSDENIED;
+    }
+
+    // Write the header line
+    const unsigned char header[80] = {0};   // initialize all values to 0
+    fwrite(&header, sizeof(unsigned char), ARRAYSIZE(header), meshFile);
+
+    // Write number of triangles
+    fwrite(&numTriangles, sizeof(int), 1, meshFile);
+
+    // Sequentially write the normal, 3 vertices of the triangle and attribute, for each triangle
+    for (unsigned int t=0; t < numTriangles; ++t)
+    {
+        Vector3 normal = normals[t*3];
+
+        if (flipYZ)
+        {
+            normal.y = -normal.y;
+            normal.z = -normal.z;
+        }
+
+        // Write normal
+        fwrite(&normal, sizeof(float), 3, meshFile);
+
+        // Write vertices
+        for (unsigned int v=0; v<3; v++)
+        {
+            Vector3 vertex = vertices[(t*3) + v];
+
+            if (flipYZ)
+            {
+                vertex.y = -vertex.y;
+                vertex.z = -vertex.z;
+            }
+
+            fwrite(&vertex, sizeof(float), 3, meshFile);
+        }
+
+        unsigned short attribute = 0;
+        fwrite(&attribute, sizeof(unsigned short), 1, meshFile);
+    }
+
+    fflush(meshFile);
+    fclose(meshFile);
+
+    return hr;
+}
+
+/// <summary>
+/// Write ASCII Wavefront .OBJ file
+/// See http://en.wikipedia.org/wiki/Wavefront_.obj_file for .OBJ format
+/// </summary>
+/// <param name="mesh">The Kinect Fusion mesh object.</param>
+/// <param name="lpOleFileName">The full path and filename of the file to save.</param>
+/// <param name="flipYZ">Flag to determine whether the Y and Z values are flipped on save.</param>
+/// <returns>indicates success or failure</returns>
+HRESULT WriteAsciiObjMeshFile(INuiFusionColorMesh *mesh, LPOLESTR lpOleFileName, bool flipYZ)
+{
+    HRESULT hr = S_OK;
+
+    if (NULL == mesh)
+    {
+        return E_INVALIDARG;
+    }
+
+    unsigned int numVertices = mesh->VertexCount();
+    unsigned int numTriangleIndices = mesh->TriangleVertexIndexCount();
+    unsigned int numTriangles = numVertices / 3;
+
+    if (0 == numVertices || 0 == numTriangleIndices || 0 != numVertices % 3 || numVertices != numTriangleIndices)
+    {
+        return E_INVALIDARG;
+    }
+
+    const Vector3 *vertices = NULL;
+    hr = mesh->GetVertices(&vertices);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    const Vector3 *normals = NULL;
+    hr = mesh->GetNormals(&normals);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    const int *triangleIndices = NULL;
+    hr = mesh->GetTriangleIndices(&triangleIndices);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    // Open File
+    std::string filename  = std::wstring_convert<std::codecvt_utf8<wchar_t>>().to_bytes(lpOleFileName);
+    FILE *meshFile = NULL;
+    errno_t err = fopen_s(&meshFile, filename.c_str(), "wt");
+
+    // Could not open file for writing - return
+    if (0 != err || NULL == meshFile)
+    {
+        return E_ACCESSDENIED;
+    }
+
+    // Write the header line
+    std::string header = "#\n# OBJ file created by Microsoft Kinect Fusion\n#\n";
+    fwrite(header.c_str(), sizeof(char), header.length(), meshFile);
+
+    const unsigned int bufSize = MAX_PATH*3;
+    char outStr[bufSize];
+    int written = 0;
+
+    if (flipYZ)
+    {
+        // Sequentially write the 3 vertices of the triangle, for each triangle
+        for (unsigned int t=0, vertexIndex=0; t < numTriangles; ++t, vertexIndex += 3)
+        {
+            written = sprintf_s(outStr, bufSize, "v %f %f %f\nv %f %f %f\nv %f %f %f\n", 
+                vertices[vertexIndex].x, -vertices[vertexIndex].y, -vertices[vertexIndex].z, 
+                vertices[vertexIndex+1].x, -vertices[vertexIndex+1].y, -vertices[vertexIndex+1].z, 
+                vertices[vertexIndex+2].x, -vertices[vertexIndex+2].y, -vertices[vertexIndex+2].z);
+            fwrite(outStr, sizeof(char), written, meshFile);
+        }
+
+        // Sequentially write the 3 normals of the triangle, for each triangle
+        for (unsigned int t=0, normalIndex=0; t < numTriangles; ++t, normalIndex += 3)
+        {
+            written = sprintf_s(outStr, bufSize, "n %f %f %f\nn %f %f %f\nn %f %f %f\n", 
+                normals[normalIndex].x, -normals[normalIndex].y, -normals[normalIndex].z, 
+                normals[normalIndex+1].x, -normals[normalIndex+1].y, -normals[normalIndex+1].z, 
+                normals[normalIndex+2].x, -normals[normalIndex+2].y, -normals[normalIndex+2].z);
+            fwrite(outStr, sizeof(char), written, meshFile);
+        }
+    }
+    else
+    {
+        // Sequentially write the 3 vertices of the triangle, for each triangle
+        for (unsigned int t=0, vertexIndex=0; t < numTriangles; ++t, vertexIndex += 3)
+        {
+            written = sprintf_s(outStr, bufSize, "v %f %f %f\nv %f %f %f\nv %f %f %f\n", 
+                vertices[vertexIndex].x, vertices[vertexIndex].y, vertices[vertexIndex].z, 
+                vertices[vertexIndex+1].x, vertices[vertexIndex+1].y, vertices[vertexIndex+1].z, 
+                vertices[vertexIndex+2].x, vertices[vertexIndex+2].y, vertices[vertexIndex+2].z);
+            fwrite(outStr, sizeof(char), written, meshFile);
+        }
+
+        // Sequentially write the 3 normals of the triangle, for each triangle
+        for (unsigned int t=0, normalIndex=0; t < numTriangles; ++t, normalIndex += 3)
+        {
+            written = sprintf_s(outStr, bufSize, "n %f %f %f\nn %f %f %f\nn %f %f %f\n", 
+                normals[normalIndex].x, normals[normalIndex].y, normals[normalIndex].z, 
+                normals[normalIndex+1].x, normals[normalIndex+1].y, normals[normalIndex+1].z, 
+                normals[normalIndex+2].x, normals[normalIndex+2].y, normals[normalIndex+2].z);
+            fwrite(outStr, sizeof(char), written, meshFile);
+        }
+    }
+
+    // Sequentially write the 3 vertex indices of the triangle face, for each triangle
+    // Note this is typically 1-indexed in an OBJ file when using absolute referencing!
+    for (unsigned int t=0, baseIndex=1; t < numTriangles; ++t, baseIndex += 3) // Start at baseIndex=1 for the 1-based indexing.
+    {
+        written = sprintf_s(outStr, bufSize, "f %u//%u %u//%u %u//%u\n", 
+            baseIndex, baseIndex, baseIndex+1, baseIndex+1, baseIndex+2, baseIndex+2);
+        fwrite(outStr, sizeof(char), written, meshFile);
+    }
+
+    // Note: we do not have texcoords to store, if we did, we would put the index of the texcoords between the vertex and normal indices (i.e. between the two slashes //) in the string above
+    fflush(meshFile);
+    fclose(meshFile);
+
+    return hr;
+}
+
+/// <summary>
+/// Write ASCII .PLY file
+/// See http://paulbourke.net/dataformats/ply/ for .PLY format
+/// </summary>
+/// <param name="mesh">The Kinect Fusion mesh object.</param>
+/// <param name="lpOleFileName">The full path and filename of the file to save.</param>
+/// <param name="flipYZ">Flag to determine whether the Y and Z values are flipped on save.</param>
+/// <param name="outputColor">Set this true to write out the surface color to the file when it has been captured.</param>
+/// <returns>indicates success or failure</returns>
+HRESULT WriteAsciiPlyMeshFile(INuiFusionColorMesh *mesh, LPOLESTR lpOleFileName, bool flipYZ, bool outputColor)
+{
+    HRESULT hr = S_OK;
+
+    if (NULL == mesh)
+    {
+        return E_INVALIDARG;
+    }
+
+    unsigned int numVertices = mesh->VertexCount();
+    unsigned int numTriangleIndices = mesh->TriangleVertexIndexCount();
+    unsigned int numTriangles = numVertices / 3;
+    unsigned int numColors = mesh->ColorCount();
+
+    if (0 == numVertices || 0 == numTriangleIndices || 0 != numVertices % 3 
+        || numVertices != numTriangleIndices || (outputColor && numVertices != numColors))
+    {
+        return E_INVALIDARG;
+    }
+
+    const Vector3 *vertices = NULL;
+    hr = mesh->GetVertices(&vertices);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    const int *triangleIndices = NULL;
+    hr = mesh->GetTriangleIndices(&triangleIndices);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    const int *colors = NULL;
+    if (outputColor)
+    {
+        hr = mesh->GetColors(&colors);
+        if (FAILED(hr))
+        {
+            return hr;
+        }
+    }
+
+    // Open File
+    std::string filename  = std::wstring_convert<std::codecvt_utf8<wchar_t>>().to_bytes(lpOleFileName);
+    FILE *meshFile = NULL;
+    errno_t err = fopen_s(&meshFile, filename.c_str(), "wt");
+
+    // Could not open file for writing - return
+    if (0 != err || NULL == meshFile)
+    {
+        return E_ACCESSDENIED;
+    }
+
+    // Write the header line
+    std::string header = "ply\nformat ascii 1.0\ncomment file created by Microsoft Kinect Fusion\n";
+    fwrite(header.c_str(), sizeof(char), header.length(), meshFile);
+
+    const unsigned int bufSize = MAX_PATH*3;
+    char outStr[bufSize];
+    int written = 0;
+
+    if (outputColor)
+    {
+        // Elements are: x,y,z, r,g,b
+        written = sprintf_s(outStr, bufSize, "element vertex %u\nproperty float x\nproperty float y\nproperty float z\nproperty uchar red\nproperty uchar green\nproperty uchar blue\n", numVertices);
+        fwrite(outStr, sizeof(char), written, meshFile);
+    }
+    else
+    {
+        // Elements are: x,y,z
+        written = sprintf_s(outStr, bufSize, "element vertex %u\nproperty float x\nproperty float y\nproperty float z\n", numVertices);
+        fwrite(outStr, sizeof(char), written, meshFile);
+    }
+
+    written = sprintf_s(outStr, bufSize, "element face %u\nproperty list uchar int vertex_index\nend_header\n", numTriangles);
+    fwrite(outStr, sizeof(char), written, meshFile);
+
+    if (flipYZ)
+    {
+        if (outputColor)
+        {
+            // Sequentially write the 3 vertices of the triangle, for each triangle
+            for (unsigned int t=0, vertexIndex=0; t < numTriangles; ++t, vertexIndex += 3)
+            {
+                unsigned int color0 = colors[vertexIndex];
+                unsigned int color1 = colors[vertexIndex+1];
+                unsigned int color2 = colors[vertexIndex+2];
+
+                written = sprintf_s(outStr, bufSize, "%f %f %f %u %u %u\n%f %f %f %u %u %u\n%f %f %f %u %u %u\n", 
+                    vertices[vertexIndex].x, -vertices[vertexIndex].y, -vertices[vertexIndex].z, 
+                    ((color0 >> 16) & 255), ((color0 >> 8) & 255), (color0 & 255), 
+                    vertices[vertexIndex+1].x, -vertices[vertexIndex+1].y, -vertices[vertexIndex+1].z,
+                    ((color1 >> 16) & 255), ((color1 >> 8) & 255), (color1 & 255), 
+                    vertices[vertexIndex+2].x, -vertices[vertexIndex+2].y, -vertices[vertexIndex+2].z,
+                    ((color2 >> 16) & 255), ((color2 >> 8) & 255), (color2 & 255));
+
+                fwrite(outStr, sizeof(char), written, meshFile);
+            }
+        }
+        else
+        {
+            // Sequentially write the 3 vertices of the triangle, for each triangle
+            for (unsigned int t=0, vertexIndex=0; t < numTriangles; ++t, vertexIndex += 3)
+            {
+                written = sprintf_s(outStr, bufSize, "%f %f %f\n%f %f %f\n%f %f %f\n", 
+                    vertices[vertexIndex].x, -vertices[vertexIndex].y, -vertices[vertexIndex].z, 
+                    vertices[vertexIndex+1].x, -vertices[vertexIndex+1].y, -vertices[vertexIndex+1].z, 
+                    vertices[vertexIndex+2].x, -vertices[vertexIndex+2].y, -vertices[vertexIndex+2].z);
+                fwrite(outStr, sizeof(char), written, meshFile);
+            }
+        }
+    }
+    else
+    {
+        if (outputColor)
+        {
+            // Sequentially write the 3 vertices of the triangle, for each triangle
+            for (unsigned int t=0, vertexIndex=0; t < numTriangles; ++t, vertexIndex += 3)
+            {
+                unsigned int color0 = colors[vertexIndex];
+                unsigned int color1 = colors[vertexIndex+1];
+                unsigned int color2 = colors[vertexIndex+2];
+
+                written = sprintf_s(outStr, bufSize, "%f %f %f %u %u %u\n%f %f %f %u %u %u\n%f %f %f %u %u %u\n", 
+                    vertices[vertexIndex].x, vertices[vertexIndex].y, vertices[vertexIndex].z, 
+                    ((color0 >> 16) & 255), ((color0 >> 8) & 255), (color0 & 255), 
+                    vertices[vertexIndex+1].x, vertices[vertexIndex+1].y, vertices[vertexIndex+1].z,
+                    ((color1 >> 16) & 255), ((color1 >> 8) & 255), (color1 & 255), 
+                    vertices[vertexIndex+2].x, vertices[vertexIndex+2].y, vertices[vertexIndex+2].z,
+                    ((color2 >> 16) & 255), ((color2 >> 8) & 255), (color2 & 255));
+
+                fwrite(outStr, sizeof(char), written, meshFile);
+            }
+        }
+        else
+        {
+            // Sequentially write the 3 vertices of the triangle, for each triangle
+            for (unsigned int t=0, vertexIndex=0; t < numTriangles; ++t, vertexIndex += 3)
+            {
+                written = sprintf_s(outStr, bufSize, "%f %f %f\n%f %f %f\n%f %f %f\n", 
+                    vertices[vertexIndex].x, vertices[vertexIndex].y, vertices[vertexIndex].z, 
+                    vertices[vertexIndex+1].x, vertices[vertexIndex+1].y, vertices[vertexIndex+1].z,
+                    vertices[vertexIndex+2].x, vertices[vertexIndex+2].y, vertices[vertexIndex+2].z);
+                fwrite(outStr, sizeof(char), written, meshFile);
+            }
+        }
+    }
+
+    // Sequentially write the 3 vertex indices of the triangle face, for each triangle (0-referenced in PLY)
+    for (unsigned int t=0, baseIndex=0; t < numTriangles; ++t, baseIndex += 3)
+    {
+        written = sprintf_s(outStr, bufSize, "3 %u %u %u\n", baseIndex, baseIndex+1, baseIndex+2);
+        fwrite(outStr, sizeof(char), written, meshFile);
+    }
+
+    fflush(meshFile);
+    fclose(meshFile);
+
+    return hr;
+}
+
+/// <summary>
+/// Write ASCII Wavefront .OBJ file with bitmap texture and material file
+/// See http://en.wikipedia.org/wiki/Wavefront_.obj_file for .OBJ format
+/// </summary>
+/// <param name="mesh">The Kinect Fusion mesh object.</param>
+/// <param name="lpOleFileName">The full path and filename of the file to save.</param>
+/// <param name="flipYZ">Flag to determine whether the Y and Z values are flipped on save.</param>
+/// <param name="pTexture">The Kinect Fusion color texture image.</param>
+/// <param name="texcoords">Three Vector3 texture coordinates per mesh triangle, normalized by the image size.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT WriteTexturedeAsciiObjMeshFile(INuiFusionColorMesh *mesh, LPOLESTR lpOleFileName, bool flipYZ, NUI_FUSION_IMAGE_FRAME *pTexture, const std::vector<Vector3> &texcoords)
+{
+    HRESULT hr = S_OK;
+
+    if (nullptr == mesh || nullptr == pTexture)
+    {
+        return E_INVALIDARG;
+    }
+
+    unsigned int numVertices = mesh->VertexCount();
+    unsigned int numTriangleIndices = mesh->TriangleVertexIndexCount();
+    unsigned int numTriangles = numVertices / 3;
+
+    if (0 == numVertices || 0 == numTriangleIndices || 0 != numVertices % 3 || numVertices != numTriangleIndices)
+    {
+        return E_INVALIDARG;
+    }
+
+    const Vector3 *vertices = NULL;
+    hr = mesh->GetVertices(&vertices);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    const Vector3 *normals = NULL;
+    hr = mesh->GetNormals(&normals);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    const int *triangleIndices = NULL;
+    hr = mesh->GetTriangleIndices(&triangleIndices);
+    if (FAILED(hr))
+    {
+        return hr;
+    }
+
+    // Open File
+    std::string filename  = std::wstring_convert<std::codecvt_utf8<wchar_t>>().to_bytes(lpOleFileName);
+    FILE *meshFile = NULL;
+    errno_t err = fopen_s(&meshFile, filename.c_str(), "wt");
+
+    // Could not open file for writing - return
+    if (0 != err || NULL == meshFile)
+    {
+        return E_ACCESSDENIED;
+    }
+
+    // Split the name and extension
+    std::string mtlfilename = filename + ".mtl";
+
+    // Open the material file
+    FILE *mtlFile = NULL;
+    err = fopen_s(&mtlFile, mtlfilename.c_str(), "wt");
+
+    // Could not open file for writing - return
+    if (0 != err || NULL == mtlFile)
+    {
+        if (meshFile)
+        {
+            fclose(meshFile);
+        }
+        return E_ACCESSDENIED;
+    }
+
+    // Write the header line
+    std::string header = "#\n# OBJ file created by Microsoft Kinect Fusion\n#\n";
+    fwrite(header.c_str(), sizeof(char), header.length(), meshFile);
+
+    // Split to extract path
+    std::string::size_type pos = filename.find_last_of("\\", filename.length());
+    std::string filenamePath = filename.substr(0,pos+1);
+    std::string filenameRelative = filename.substr(pos+1);
+
+    // Write that we have an accompanying material file
+    std::string mtlfile = "mtllib " + filenameRelative + ".mtl\n";
+    fwrite(mtlfile.c_str(), sizeof(char), mtlfile.length(), meshFile);
+
+    const unsigned int bufSize = MAX_PATH*3;
+    char outStr[bufSize];
+    int written = 0;
+
+    if (flipYZ)
+    {
+        // Sequentially write the 3 vertices of the triangle, for each triangle
+        for (unsigned int t=0, vertexIndex=0; t < numTriangles; ++t, vertexIndex += 3)
+        {
+            written = sprintf_s(outStr, bufSize, "v %f %f %f\nv %f %f %f\nv %f %f %f\n", 
+                vertices[vertexIndex].x, -vertices[vertexIndex].y, -vertices[vertexIndex].z, 
+                vertices[vertexIndex+1].x, -vertices[vertexIndex+1].y, -vertices[vertexIndex+1].z, 
+                vertices[vertexIndex+2].x, -vertices[vertexIndex+2].y, -vertices[vertexIndex+2].z);
+            fwrite(outStr, sizeof(char), written, meshFile);
+        }
+
+        // Sequentially write the 3 normals of the triangle, for each triangle
+        for (unsigned int t=0, normalIndex=0; t < numTriangles; ++t, normalIndex += 3)
+        {
+            written = sprintf_s(outStr, bufSize, "n %f %f %f\nn %f %f %f\nn %f %f %f\n", 
+                normals[normalIndex].x, -normals[normalIndex].y, -normals[normalIndex].z, 
+                normals[normalIndex+1].x, -normals[normalIndex+1].y, -normals[normalIndex+1].z, 
+                normals[normalIndex+2].x, -normals[normalIndex+2].y, -normals[normalIndex+2].z);
+            fwrite(outStr, sizeof(char), written, meshFile);
+        }
+    }
+    else
+    {
+        // Sequentially write the 3 vertices of the triangle, for each triangle
+        for (unsigned int t=0, vertexIndex=0; t < numTriangles; ++t, vertexIndex += 3)
+        {
+            written = sprintf_s(outStr, bufSize, "v %f %f %f\nv %f %f %f\nv %f %f %f\n", 
+                vertices[vertexIndex].x, vertices[vertexIndex].y, vertices[vertexIndex].z, 
+                vertices[vertexIndex+1].x, vertices[vertexIndex+1].y, vertices[vertexIndex+1].z, 
+                vertices[vertexIndex+2].x, vertices[vertexIndex+2].y, vertices[vertexIndex+2].z);
+            fwrite(outStr, sizeof(char), written, meshFile);
+        }
+
+        // Sequentially write the 3 normals of the triangle, for each triangle
+        for (unsigned int t=0, normalIndex=0; t < numTriangles; ++t, normalIndex += 3)
+        {
+            written = sprintf_s(outStr, bufSize, "n %f %f %f\nn %f %f %f\nn %f %f %f\n", 
+                normals[normalIndex].x, normals[normalIndex].y, normals[normalIndex].z, 
+                normals[normalIndex+1].x, normals[normalIndex+1].y, normals[normalIndex+1].z, 
+                normals[normalIndex+2].x, normals[normalIndex+2].y, normals[normalIndex+2].z);
+            fwrite(outStr, sizeof(char), written, meshFile);
+        }
+    }
+
+    // Sequentially write the 3 texture coordinates of the triangle, for each triangle
+    for (unsigned int t=0, texcoordIndex=0; t < numTriangles; ++t, texcoordIndex += 3)
+    {
+        written = sprintf_s(outStr, bufSize, "vt %f %f\nvt %f %f\nvt %f %f\n", 
+            texcoords[texcoordIndex].x, texcoords[texcoordIndex].y, 
+            texcoords[texcoordIndex+1].x, texcoords[texcoordIndex+1].y, 
+            texcoords[texcoordIndex+2].x, texcoords[texcoordIndex+2].y);
+        fwrite(outStr, sizeof(char), written, meshFile);
+    }
+
+    // Write that we are using material0 (i.e. the texture)
+    std::string material = "usemtl material0\n";
+    fwrite(material.c_str(), sizeof(char), material.length(), meshFile);
+
+
+    // Sequentially write the 3 vertex indices of the triangle face, for each triangle
+    // Note this is typically 1-indexed in an OBJ file when using absolute referencing!
+    for (unsigned int t=0, baseIndex=1; t < numTriangles; ++t, baseIndex += 3) // Start at baseIndex=1 for the 1-based indexing.
+    {
+        written = sprintf_s(outStr, bufSize, "f %u/%u/%u %u/%u/%u %u/%u/%u\n", 
+            baseIndex, baseIndex, baseIndex, baseIndex+1, baseIndex+1, baseIndex+1, baseIndex+2, baseIndex+2, baseIndex+2);
+        fwrite(outStr, sizeof(char), written, meshFile);
+    }
+
+    fflush(meshFile);
+    fclose(meshFile);
+
+    // Write the material description file
+    header = "#\n# OBJ file created by Microsoft Kinect Fusion\n#\n";
+    fwrite(header.c_str(), sizeof(char), header.length(), mtlFile);
+
+    material = "newmtl material0\n";
+    fwrite(material.c_str(), sizeof(char), material.length(), mtlFile);
+
+    // Create the texture filename
+    std::string textureFilename = filenameRelative + ".bmp";
+
+    // Write the generic materials definition together with the texture filename.
+    std::string mtldescription ="Ka 1.000000 1.000000 1.000000\n"
+        "Kd 1.000000 1.000000 1.000000\n" 
+        "Ks 0.000000 0.000000 0.000000\n"
+        "Tr 1.000000\n"
+        "illum 1\n"
+        "Ns 0.000000\n"
+        "map_Kd " + textureFilename + "\n";
+    fwrite(mtldescription.c_str(), sizeof(char), mtldescription.length(), mtlFile);
+
+    fflush(mtlFile);
+    fclose(mtlFile);
+
+    std::string textureFilenamePath = filenamePath + textureFilename;
+    CA2W pszW( textureFilenamePath.c_str() );
+
+    // Write out the texture
+    NUI_FUSION_BUFFER *fusionColorBuffer = pTexture->pFrameBuffer;
+
+    if (fusionColorBuffer->Pitch == 0)
+    {
+        return E_FAIL;
+    }
+
+    // Save the texture
+    hr = SaveBMPFile(pszW, fusionColorBuffer->pBits, pTexture->width, pTexture->height);
+
+    return hr;
+}
+
+/// <summary>
+/// Returns whether this is running as a 32 or 64bit application.
+/// </summary>
+/// <returns>TRUE indicates a 64bit app.</returns>
+BOOL Is64BitApp()
+{
+#if defined(_WIN64)
+    // If _WIN64 is defined, we are a 64-bit version as 
+    // this will only be defined on Win64
+    return TRUE; 
+#else
+    // 32-bit programs run on both 32-bit and 64-bit Windows with WOW64, 
+    // however the restrictions are the same for our application.
+    return FALSE;
+#endif
+}
+
+/// <summary>
+/// Write 32bit BMP image file
+/// </summary>
+/// <param name="pszFile">The full path and filename of the file to save.</param>
+/// <param name="pImageBytes">A pointer to the image bytes to save.</param>
+/// <param name="width">The width of the image to save.</param>
+/// <param name="height">The width of the image to save.</param>
+/// <returns>indicates success or failure</returns>
+HRESULT SaveBMPFile(LPCWSTR pszFile, const byte *pImageBytes, unsigned int width, unsigned int height)
+{
+    // Each pixel is 8 bits per color, 4 values interleaved (R,G,B,A) = 32 bits total
+    const WORD cBitsPerColor = 8;
+    const WORD cColorValues = 4;
+    WORD cColorBits = cBitsPerColor * cColorValues;
+
+    // No need to pad the array as we already have 32bit pixels.
+    DWORD imageByteSize = static_cast<DWORD>(width) * static_cast<DWORD>(height) * static_cast<DWORD>(cColorBits/8);
+
+    // However, we may need to swap R and B byte ordering.
+
+    // Set headers
+    BITMAPFILEHEADER bmfh;
+    BITMAPINFOHEADER info;
+    memset (&bmfh, 0, sizeof(BITMAPFILEHEADER));
+    memset (&info, 0, sizeof(BITMAPINFOHEADER));
+
+    bmfh.bfType = 0x4d42;   // Magic number "BM"
+    bmfh.bfReserved1 = 0;
+    bmfh.bfReserved2 = 0;
+    bmfh.bfSize = sizeof(BITMAPFILEHEADER) + sizeof(BITMAPINFOHEADER) + imageByteSize;
+    bmfh.bfOffBits = 0x36;
+
+    info.biSize = sizeof(BITMAPINFOHEADER);
+    info.biWidth = width;
+    info.biHeight = height;
+    info.biPlanes = 1;
+    info.biBitCount = cColorBits;
+    info.biCompression = BI_RGB;
+    info.biSizeImage = 0;
+    info.biXPelsPerMeter = 0x0ec4;
+    info.biYPelsPerMeter = 0x0ec4;
+    info.biClrUsed = 0;    
+    info.biClrImportant = 0; 
+
+    // Open file and write
+    HANDLE file = CreateFileW(pszFile, GENERIC_WRITE, FILE_SHARE_READ, NULL, CREATE_ALWAYS, FILE_ATTRIBUTE_NORMAL, NULL);
+    if (INVALID_HANDLE_VALUE == file)
+    {
+        return E_INVALIDARG;
+    }
+
+    unsigned long bytesWritten = 0;
+
+    if (FALSE == WriteFile(file, &bmfh, sizeof(BITMAPFILEHEADER), &bytesWritten, NULL))
+    {
+        CloseHandle(file);
+        return E_FAIL;
+    }
+
+    if (FALSE == WriteFile(file, &info, sizeof(BITMAPINFOHEADER), &bytesWritten, NULL))
+    {
+        CloseHandle(file);
+        return E_FAIL;
+    }
+
+    if (FALSE == WriteFile(file, pImageBytes, imageByteSize, &bytesWritten, NULL))
+    {
+        CloseHandle(file);
+        return E_FAIL;
+    }
+
+    CloseHandle(file);
+
+    return S_OK;
+}
+
+/// <summary>
+/// Copy an image with identical sizes and parameters.
+/// </summary>
+/// <param name="pSrc">A pointer to the source image.</param>
+/// <param name="pDest">A pointer to the destination image.</param>
+/// <returns>indicates success or failure</returns>
+HRESULT CopyImageFrame(const NUI_FUSION_IMAGE_FRAME *pSrc, const NUI_FUSION_IMAGE_FRAME *pDest)
+{
+    HRESULT hr = S_OK;
+
+    if (nullptr == pSrc || nullptr == pSrc->pFrameBuffer || nullptr == pDest || nullptr == pDest->pFrameBuffer)
+    {
+        return E_INVALIDARG;
+    }
+
+    if (pSrc->imageType != pDest->imageType)
+    {
+        return E_INVALIDARG;
+    }
+
+    if (0 == pSrc->width || 0 == pSrc->height || pSrc->width != pDest->width || pSrc->height != pDest->height)
+    {
+        return E_NOINTERFACE;
+    }
+
+    NUI_FUSION_BUFFER *srcImageFrameBuffer = pSrc->pFrameBuffer;
+
+    // Make sure we've received valid data
+    if (srcImageFrameBuffer->Pitch != 0)
+    {
+        NUI_FUSION_BUFFER *destImageFrameBuffer = pDest->pFrameBuffer;
+
+        // Make sure we've received valid data
+        if (destImageFrameBuffer->Pitch != 0)
+        {
+            // Copy
+            errno_t err = memcpy_s(
+                destImageFrameBuffer->pBits, 
+                destImageFrameBuffer->Pitch * pDest->height, 
+                srcImageFrameBuffer->pBits, 
+                srcImageFrameBuffer->Pitch * pSrc->height);
+
+            if (0 != err)
+            {
+                hr = E_FAIL;
+            }
+        }
+    }
+
+    return hr;
+}
+
+/// <summary>
+/// Color the residual/delta image from the AlignDepthFloatToReconstruction call
+/// </summary>
+/// <param name="pFloatDeltaFromReference">A pointer to the source FloatDeltaFromReference image.</param>
+/// <param name="pShadedDeltaFromReference">A pointer to the destination color ShadedDeltaFromReference image.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT ColorResiduals(const NUI_FUSION_IMAGE_FRAME *pFloatDeltaFromReference, const NUI_FUSION_IMAGE_FRAME *pShadedDeltaFromReference)
+{
+    if (nullptr == pShadedDeltaFromReference || 
+        nullptr == pFloatDeltaFromReference)
+    {
+        return E_FAIL;
+    }
+
+    if (nullptr == pShadedDeltaFromReference->pFrameBuffer ||
+        nullptr == pFloatDeltaFromReference->pFrameBuffer)
+    {
+        return E_NOINTERFACE;
+    }
+
+    if (pFloatDeltaFromReference->imageType !=  NUI_FUSION_IMAGE_TYPE_FLOAT || pShadedDeltaFromReference->imageType !=  NUI_FUSION_IMAGE_TYPE_COLOR)
+    {
+        return E_INVALIDARG;
+    }
+
+    unsigned int width = pShadedDeltaFromReference->width;
+    unsigned int height = pShadedDeltaFromReference->height;
+
+    if (width != pFloatDeltaFromReference->width 
+        || height != pFloatDeltaFromReference->height)
+    {
+        return E_INVALIDARG;
+    }
+
+    if (pShadedDeltaFromReference->pFrameBuffer->Pitch == 0
+        || pFloatDeltaFromReference->pFrameBuffer->Pitch == 0)
+    {
+        return E_INVALIDARG;
+    }
+
+    unsigned int *pColorBuffer = reinterpret_cast<unsigned int *>(pShadedDeltaFromReference->pFrameBuffer->pBits);
+    const float *pFloatBuffer = reinterpret_cast<float *>(pFloatDeltaFromReference->pFrameBuffer->pBits);
+
+    Concurrency::parallel_for(0u, height, [&](unsigned int y)
+    {
+        unsigned int* pColorRow = reinterpret_cast<unsigned int*>(reinterpret_cast<unsigned char*>(pColorBuffer) + (y * pShadedDeltaFromReference->pFrameBuffer->Pitch));
+        const float* pFloatRow = reinterpret_cast<const float*>(reinterpret_cast<const unsigned char*>(pFloatBuffer) + (y * pFloatDeltaFromReference->pFrameBuffer->Pitch));
+
+        for (unsigned int x = 0; x < width; ++x)
+        {
+            float residue = pFloatRow[x];
+            unsigned int color = 0;
+
+            if (residue <= 1.0f)   // Pixel byte ordering: ARGB
+            {
+                color |= (255 << 24);                                                                               // a
+                color |= (static_cast<unsigned char>(255.0f * clamp(1.0f + residue, 0.0f, 1.0f)) << 16);            // r
+                color |= (static_cast<unsigned char>(255.0f * clamp(1.0f - std::abs(residue), 0.0f, 1.0f)) << 8);   // g
+                color |= (static_cast<unsigned char>(255.0f * clamp(1.0f - residue, 0.0f, 1.0f)));                  // b
+            }
+
+            pColorRow[x] = color;
+        }
+    });
+
+    return S_OK;
+}
+
+/// <summary>
+/// Calculate statistics on the residual/delta image from the AlignDepthFloatToReconstruction call.
+/// </summary>
+/// <param name="pFloatDeltaFromReference">A pointer to the source FloatDeltaFromReference image.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT CalculateResidualStatistics(const NUI_FUSION_IMAGE_FRAME *pFloatDeltaFromReference, DeltaFromReferenceImageStatistics *stats)
+{
+    if (nullptr == pFloatDeltaFromReference || nullptr == stats)
+    {
+        return E_INVALIDARG;
+    }
+
+    if (nullptr == pFloatDeltaFromReference->pFrameBuffer)
+    {
+        return E_NOINTERFACE;
+    }
+
+    unsigned int width = pFloatDeltaFromReference->width;
+    unsigned int height = pFloatDeltaFromReference->height;
+
+    if (0 == width || 0 == height || pFloatDeltaFromReference->pFrameBuffer->Pitch == 0)
+    {
+        return E_INVALIDARG;
+    }
+
+    const float *pFloatBuffer = reinterpret_cast<float *>(pFloatDeltaFromReference->pFrameBuffer->pBits);
+
+    // Measurement stats
+    std::vector<unsigned int> zeroPixelsRow;
+    std::vector<unsigned int> validPixelsRow;
+    std::vector<unsigned int> invalidDepthOutsideVolumePixelsRow;
+    std::vector<float> validPixelDistanceRow;
+
+    zeroPixelsRow.resize(height, 0);
+    validPixelsRow.resize(height, 0);
+    invalidDepthOutsideVolumePixelsRow.resize(height, 0);
+    validPixelDistanceRow.resize(height, 0);
+
+    Concurrency::parallel_for(0u, height, [&](unsigned int y)
+    {
+        const float* pFloatRow = reinterpret_cast<const float*>(reinterpret_cast<const unsigned char*>(pFloatBuffer) + (y * pFloatDeltaFromReference->pFrameBuffer->Pitch));
+
+        for (unsigned int x = 0; x < width; ++x)
+        {
+            float residue = pFloatRow[x];
+
+            // If the depth was invalid or the depth back-projected outside the volume, the residual is set to 2.0f
+            // However, if the voxel contents are 0 the residual will also return 0 here.
+            if (residue == 0.0f)
+            {
+                ++zeroPixelsRow[y];
+            }
+            else if (residue == 2.0f)
+            {
+                ++invalidDepthOutsideVolumePixelsRow[y];
+            }
+            else if (residue <= 1.0f)   // Pixel byte ordering: ARGB
+            {
+                ++validPixelsRow[y];
+                validPixelDistanceRow[y] += residue;
+            }
+        }
+    });
+
+    stats->validPixels = stats->zeroPixels = stats->invalidDepthOutsideVolumePixels = 0;
+    stats->totalValidPixelsDistance = 0;
+    stats->totalPixels = width * height;
+
+    for (unsigned int y=0; y<height; ++y)
+    {
+        stats->zeroPixels += zeroPixelsRow[y];
+        stats->validPixels += validPixelsRow[y];
+        stats->invalidDepthOutsideVolumePixels += invalidDepthOutsideVolumePixelsRow[y];
+
+        stats->totalValidPixelsDistance += validPixelDistanceRow[y];
+    }
+
+    return S_OK;
+}
+
+/// <summary>
+/// Horizontally mirror a 32bit (color/float) image in-place.
+/// </summary>
+/// <param name="pImage">A pointer to the image to mirror.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT HorizontalMirror32bitImageInPlace(const NUI_FUSION_IMAGE_FRAME *pImage)
+{
+    if (nullptr == pImage || !(pImage->imageType == NUI_FUSION_IMAGE_TYPE_COLOR || pImage->imageType == NUI_FUSION_IMAGE_TYPE_FLOAT))
+    {
+        return E_INVALIDARG;
+    }
+
+    if (nullptr == pImage->pFrameBuffer)
+    {
+        return E_NOINTERFACE;
+    }
+
+    unsigned int width = pImage->width;
+    unsigned int height = pImage->height;
+
+    if (0 == width || 0 == height || pImage->pFrameBuffer->Pitch == 0)
+    {
+        return E_INVALIDARG;
+    }
+
+    unsigned int *rawPixels = reinterpret_cast<unsigned int *>(pImage->pFrameBuffer->pBits);
+
+    Concurrency::parallel_for(0u, height, [&](unsigned int y)
+    {
+        unsigned int index = y * width;
+        unsigned int mirrorIndex = index + width - 1;
+
+        for (unsigned int x = 0; x < (width / 2); ++x, ++index, --mirrorIndex)
+        {
+            // In-place swap to mirror
+            unsigned int temp = rawPixels[index];
+            rawPixels[index] = rawPixels[mirrorIndex];
+            rawPixels[mirrorIndex] = temp;
+        }
+    });
+
+    return S_OK;
+}
+
+/// <summary>
+/// Horizontally mirror a 32bit (color/float) image.
+/// </summary>
+/// <param name="pSrcImage">A pointer to the image to mirror.</param>
+/// <param name="pDestImage">A pointer to the destination mirrored image.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT HorizontalMirror32bitImage(const NUI_FUSION_IMAGE_FRAME *pSrcImage, const NUI_FUSION_IMAGE_FRAME *pDestImage)
+{
+    if (nullptr == pSrcImage || nullptr == pDestImage)
+    {
+        return E_INVALIDARG;
+    }
+
+    if (nullptr == pSrcImage->pFrameBuffer || nullptr == pDestImage->pFrameBuffer)
+    {
+        return E_NOINTERFACE;
+    }
+
+    if (!(pSrcImage->imageType == NUI_FUSION_IMAGE_TYPE_FLOAT || pSrcImage->imageType == NUI_FUSION_IMAGE_TYPE_COLOR) 
+        || pSrcImage->imageType != pDestImage->imageType)
+    {
+        return E_INVALIDARG;
+    }
+
+    unsigned int width = pSrcImage->width;
+    unsigned int height = pSrcImage->height;
+
+    if (width != pDestImage->width || height != pDestImage->height)
+    {
+        return E_INVALIDARG;
+    }
+
+    if (pSrcImage->pFrameBuffer->Pitch == 0 || pDestImage->pFrameBuffer->Pitch == 0)
+    {
+        return E_INVALIDARG;
+    }
+
+    const unsigned int *pSrcBuffer = reinterpret_cast<const unsigned int *>(pSrcImage->pFrameBuffer->pBits);
+    unsigned int *pDestBuffer = reinterpret_cast<unsigned int *>(pDestImage->pFrameBuffer->pBits);
+
+    Concurrency::parallel_for(0u, height, [&](unsigned int y)
+    {
+        const unsigned int *pSrcRow = reinterpret_cast<const unsigned int*>(reinterpret_cast<const unsigned char*>(pSrcBuffer) + (y * pSrcImage->pFrameBuffer->Pitch));
+        unsigned int *pDestRow = reinterpret_cast<unsigned int*>(reinterpret_cast<unsigned char*>(pDestBuffer) + (y * pDestImage->pFrameBuffer->Pitch));
+
+        for (unsigned int x = 0, flippedX = width-1; x < width; ++x, --flippedX)
+        {
+            pDestRow[flippedX] = pSrcRow[x];
+        }
+    });
+
+    return S_OK;
+}
+
+/// <summary>
+/// Tests whether a resampling factor is valid.
+/// </summary>
+/// <param name="factor">The resampling factor.</param>
+/// <returns>true if a valid resampling factor, otherwise false.</returns>
+/// <remarks>
+/// Valid resampling factors are powers of two between 1 and 16, inclusive.
+/// </remarks>
+static inline bool IsValidResampleFactor(unsigned int factor)
+{
+    return (1 == factor || 2 == factor || 4 == factor || 8 == factor || 16 == factor);
+}
+
+/// <summary>
+/// Down sample color frame with nearest neighbor to the depth frame resolution
+/// </summary>
+/// <param name="src">The source color image.</param>
+/// <param name="dest">The destination down sampled  image.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT DownsampleColorFrameToDepthResolution(NUI_FUSION_IMAGE_FRAME *src, NUI_FUSION_IMAGE_FRAME *dest)
+{
+    if (nullptr == src || nullptr == dest)
+    {
+        return E_INVALIDARG;
+    }
+
+    if (src->imageType != NUI_FUSION_IMAGE_TYPE_COLOR || src->imageType != dest->imageType 
+        || src->width != 1920 || src->height != 1080 || dest->width != NUI_DEPTH_RAW_WIDTH || dest->height != NUI_DEPTH_RAW_HEIGHT)
+    {
+        return E_INVALIDARG;
+    }
+
+    NUI_FUSION_BUFFER *srcFrameBuffer = src->pFrameBuffer;
+    NUI_FUSION_BUFFER *downsampledFloatFrameBuffer = dest->pFrameBuffer;
+
+    float factor = 1080.0f / NUI_DEPTH_RAW_HEIGHT;
+
+    // Make sure we've received valid data
+    if (srcFrameBuffer->Pitch == 0 || downsampledFloatFrameBuffer->Pitch == 0)
+    {
+        return E_NOINTERFACE;
+    }
+
+    HRESULT hr = S_OK;
+    float *srcValues = (float *)srcFrameBuffer->pBits;
+    float *downsampledDestValues = (float *)downsampledFloatFrameBuffer->pBits;
+
+    const unsigned int filledZeroMargin = 0;
+    const unsigned int downsampledWidth = dest->width;
+    const unsigned int srcImageWidth = src->width;
+
+    ZeroMemory(downsampledDestValues, downsampledFloatFrameBuffer->Pitch * dest->height);
+    Concurrency::parallel_for(filledZeroMargin, dest->height - filledZeroMargin, [=, &downsampledDestValues, &srcValues](unsigned int y)
+    {
+        unsigned int index = dest->width * y;
+        for (unsigned int x=0; x < downsampledWidth; ++x, ++index)
+        {
+            int srcX = (int)(x * factor);
+            int srcY = (int)(y * factor);
+            int srcIndex = srcY * srcImageWidth + srcX;
+            downsampledDestValues[index] = srcValues[srcIndex];
+        }
+    });
+
+    return hr;
+}
+
+/// <summary>
+/// Down sample color, depth float or point cloud frame with nearest neighbor
+/// </summary>
+/// <param name="src">The source depth float or pointcloud image.</param>
+/// <param name="dest">The destination down sampled depth float or pointcloud image.</param>
+/// <param name="factor">The down sample factor (1=just copy, 2=x/2,y/2, 4=x/4,y/4).</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT DownsampleFrameNearestNeighbor(NUI_FUSION_IMAGE_FRAME *src, NUI_FUSION_IMAGE_FRAME *dest, unsigned int factor)
+{
+    if (nullptr == src || nullptr == dest)
+    {
+        return E_INVALIDARG;
+    }
+
+    if (!(src->imageType == NUI_FUSION_IMAGE_TYPE_COLOR || src->imageType == NUI_FUSION_IMAGE_TYPE_FLOAT || src->imageType == NUI_FUSION_IMAGE_TYPE_POINT_CLOUD)
+        || src->imageType != dest->imageType)
+    {
+        return E_INVALIDARG;
+    }
+
+    if (!IsValidResampleFactor(factor))
+    {
+        return E_INVALIDARG;
+    }
+
+    NUI_FUSION_BUFFER *srcFrameBuffer = src->pFrameBuffer;
+    NUI_FUSION_BUFFER *downsampledFloatFrameBuffer = dest->pFrameBuffer;
+
+    unsigned int downsampledWidth = src->width / factor;
+    unsigned int downsampleHeight = src->height / factor;
+
+    if (1 == factor && srcFrameBuffer->Pitch * src->height != downsampledFloatFrameBuffer->Pitch * dest->height)
+    {
+        return E_INVALIDARG;
+    }
+    else if (dest->width != downsampledWidth || dest->height != downsampleHeight)
+    {
+        return E_INVALIDARG;
+    }
+
+    // Make sure we've received valid data
+    if (srcFrameBuffer->Pitch == 0 || downsampledFloatFrameBuffer->Pitch == 0)
+    {
+        return E_NOINTERFACE;
+    }
+
+    HRESULT hr = S_OK;
+    float *srcValues = (float *)srcFrameBuffer->pBits;
+    float *downsampledDestValues = (float *)downsampledFloatFrameBuffer->pBits;
+
+    const unsigned int srcImageWidth = src->width;
+
+    if (1 == factor)
+    {
+        errno_t err = memcpy_s(downsampledDestValues, downsampledFloatFrameBuffer->Pitch * dest->height, srcValues, srcFrameBuffer->Pitch * src->height);
+        if (0 != err)
+        {
+            hr = E_FAIL;
+        }
+    }
+    else
+    {
+        // Adjust for point cloud image size (6 floats per pixel)
+        unsigned int step = (src->imageType == NUI_FUSION_IMAGE_TYPE_POINT_CLOUD) ? 6 : 1;
+        unsigned int factorStep = factor * step;
+
+        Concurrency::parallel_for(0u, downsampleHeight, [=, &downsampledDestValues, &srcValues](unsigned int y)
+        {
+            unsigned int index = downsampledWidth * y * step;
+            unsigned int srcIndex = srcImageWidth * y * factorStep;
+
+            for (unsigned int x=0; x<downsampledWidth; ++x, srcIndex += factorStep)
+            {
+                for (unsigned int s=0, localSourceIndex=srcIndex; s<step; ++s, ++index, ++localSourceIndex)
+                {
+                    downsampledDestValues[index] = srcValues[localSourceIndex];
+                }
+            }
+        });
+    }
+
+    return hr;
+}
+
+/// <summary>
+/// Up sample color or depth float (32bits/pixel) frame with nearest neighbor - replicates pixels
+/// </summary>
+/// <param name="src">The source color image.</param>
+/// <param name="dest">The destination up-sampled color image.</param>
+/// <param name="factor">The up sample factor (1=just copy, 2=x*2,y*2, 4=x*4,y*4).</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT UpsampleFrameNearestNeighbor(NUI_FUSION_IMAGE_FRAME *src, NUI_FUSION_IMAGE_FRAME *dest, unsigned int factor)
+{
+    if (nullptr == src || nullptr == dest)
+    {
+        return E_INVALIDARG;
+    }
+
+    if (src->imageType != dest->imageType || !(src->imageType == NUI_FUSION_IMAGE_TYPE_COLOR || src->imageType == NUI_FUSION_IMAGE_TYPE_FLOAT))
+    {
+        return E_INVALIDARG;
+    }
+
+    if (!IsValidResampleFactor(factor))
+    {
+        return E_INVALIDARG;
+    }
+
+    NUI_FUSION_BUFFER *srcFrameBuffer = src->pFrameBuffer;
+    NUI_FUSION_BUFFER *upsampledDestFrameBuffer = dest->pFrameBuffer;
+
+    unsigned int upsampledWidth = src->width * factor;
+    unsigned int upsampleHeight = src->height * factor;
+
+    if (1 == factor && srcFrameBuffer->Pitch * src->height != upsampledDestFrameBuffer->Pitch * dest->height)
+    {
+        return E_INVALIDARG;
+    }
+    else if (dest->width != upsampledWidth || dest->height != upsampleHeight)
+    {
+        return E_INVALIDARG;
+    }
+
+    // Make sure we've received valid data
+    if (srcFrameBuffer->Pitch == 0 || upsampledDestFrameBuffer->Pitch == 0)
+    {
+        return E_NOINTERFACE;
+    }
+
+    HRESULT hr = S_OK;
+    unsigned int *srcValues = (unsigned int *)srcFrameBuffer->pBits;
+    unsigned int *upsampledDestValues = (unsigned int *)upsampledDestFrameBuffer->pBits;
+
+    const unsigned int srcImageWidth = src->width;
+    const unsigned int srcImageHeight = src->height;
+
+    if (1 == factor)
+    {
+        errno_t err = memcpy_s(upsampledDestValues, upsampledDestFrameBuffer->Pitch * dest->height, srcValues, srcFrameBuffer->Pitch * src->height);
+        if (0 != err)
+        {
+            hr = E_FAIL;
+        }
+    }
+    else
+    {
+        unsigned int upsampleRowMultiplier = upsampledWidth * factor;
+
+        // Note we run this only for the source image height pixels to sparsely fill the destination with rows
+        Concurrency::parallel_for(0u, srcImageHeight, [=, &upsampledDestValues, &srcValues](unsigned int y)
+        {
+            unsigned int index = upsampleRowMultiplier * y;
+            unsigned int srcIndex = srcImageWidth * y;
+
+            // Fill row
+            for (unsigned int x=0; x<srcImageWidth; ++x, ++srcIndex)
+            {
+                unsigned int color = srcValues[srcIndex];
+
+                // Replicate pixels horizontally
+                for (unsigned int s=0; s<factor; ++s, ++index)
+                {
+                    upsampledDestValues[index] = color;
+                }
+            }
+        });
+
+        unsigned int rowByteSize = upsampledWidth * sizeof(unsigned int);
+
+        // Duplicate the remaining rows with memcpy
+        for (unsigned int y=0; y<srcImageHeight; ++y)   // iterate only for the smaller number of rows
+        {
+            unsigned int srcRowIndex = upsampleRowMultiplier * y;
+
+            // Duplicate lines
+            for (unsigned int r=1; r<factor; ++r)
+            {
+                unsigned int index = upsampledWidth * ((y*factor) + r);
+
+                errno_t err = memcpy_s(&(upsampledDestValues[index]), rowByteSize, &(upsampledDestValues[srcRowIndex]), rowByteSize);
+                if (0 != err)
+                {
+                    hr = E_FAIL;
+                }
+            }
+        }
+    }
+
+    return hr;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Fusion/KinectFusionHelper.h b/codes/Kinect2Sample-master/sample/Fusion/KinectFusionHelper.h
new file mode 100644
index 0000000..a26c0ae
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Fusion/KinectFusionHelper.h
@@ -0,0 +1,456 @@
+//------------------------------------------------------------------------------
+// <copyright file="KinectFusionHelper.h" company="Microsoft">
+//     Copyright (c) Microsoft Corporation.  All rights reserved.
+// </copyright>
+//------------------------------------------------------------------------------
+
+#pragma once
+
+#include "NuiKinectFusionApi.h"
+#include <vector>
+#include <string>
+
+/// <summary>
+/// Set Identity in a Matrix4
+/// </summary>
+/// <param name="mat">The matrix to set to identity</param>
+void SetIdentityMatrix(Matrix4 &mat);
+
+/// <summary>
+/// Extract translation values from the 4x4 Matrix4 transformation in M41,M42,M43
+/// </summary>
+/// <param name="transform">The transform matrix.</param>
+/// <param name="translation">Array of 3 floating point values for translation.</param>
+void ExtractVector3Translation(const Matrix4 &transform, _Out_cap_c_(3) float *translation);
+
+/// <summary>
+/// Extract translation Vector3 from the 4x4 Matrix transformation in M41,M42,M43
+/// </summary>
+/// <param name="transform">The transform matrix.</param>
+/// <returns>Returns a Vector3 containing the translation.</returns>
+Vector3 ExtractVector3Translation(const Matrix4 &transform);
+
+/// <summary>
+/// Extract 3x3 rotation from the 4x4 Matrix and return in new Matrix4
+/// </summary>
+/// <param name="transform">The transform matrix.</param>
+/// <returns>Returns a Matrix4 containing the rotation.</returns>
+Matrix4 Extract3x3Rotation(const Matrix4 &transform);
+
+/// <summary>
+/// Extract 3x3 rotation matrix from the Matrix4 4x4 transformation:
+/// Then convert to Euler angles.
+/// </summary>
+/// <param name="transform">The transform matrix.</param>
+/// <param name="rotation">Array of 3 floating point values for euler angles.</param>
+void ExtractRot2Euler(const Matrix4 &transform, _Out_cap_c_(3) float *rotation);
+
+/// <summary>
+/// Test whether the camera moved too far between sequential frames by looking at starting and end transformation matrix.
+/// We assume that if the camera moves or rotates beyond a reasonable threshold, that we have lost track.
+/// Note that on lower end machines, if the processing frame rate decreases below 30Hz, this limit will potentially have
+/// to be increased as frames will be dropped and hence there will be a greater motion between successive frames.
+/// </summary>
+/// <param name="T_initial">The transform matrix from the previous frame.</param>
+/// <param name="T_final">The transform matrix from the current frame.</param>
+/// <param name="maxTrans">The maximum translation in meters we expect per x,y,z component between frames under normal motion.</param>
+/// <param name="maxRotDegrees">The maximum rotation in degrees we expect about the x,y,z axes between frames under normal motion.</param>
+/// <returns>true if camera transformation is greater than the threshold, otherwise false</returns>
+bool CameraTransformFailed(const Matrix4 &T_initial, const Matrix4 &T_final, float maxTrans, float maxRotDegrees);
+
+/// <summary>
+/// Invert the 3x3 Rotation Matrix Component of a 4x4 matrix
+/// </summary>
+/// <param name="rot">The rotation matrix to invert.</param>
+void InvertRotation(Matrix4 &rot);
+
+/// <summary>
+/// Negate the 3x3 Rotation Matrix Component of a 4x4 matrix
+/// </summary>
+/// <param name="rot">The rotation matrix to negate.</param>
+void NegateRotation(Matrix4 &rot);
+
+/// <summary>
+/// Rotate a vector with the 3x3 Rotation Matrix Component of a 4x4 matrix
+/// </summary>
+/// <param name="vec">The Vector3 to rotate.</param>
+/// <param name="rot">Rotation matrix.</param>
+Vector3 RotateVector(const Vector3 &vec, const Matrix4 &rot);
+
+/// <summary>
+/// Invert Matrix4 Pose either from WorldToCameraTransform (view) matrix to CameraToWorldTransform pose matrix (world/SE3) or vice versa
+/// </summary>
+/// <param name="transform">The camera pose transform matrix.</param>
+/// <returns>Returns a Matrix4 containing the inverted camera pose.</returns>
+Matrix4 InvertMatrix4Pose(const Matrix4 &transform);
+
+/// <summary>
+/// Write Binary .STL mesh file
+/// see http://en.wikipedia.org/wiki/STL_(file_format) for STL format
+/// </summary>
+/// <param name="mesh">The Kinect Fusion mesh object.</param>
+/// <param name="lpOleFileName">The full path and filename of the file to save.</param>
+/// <param name="flipYZ">Flag to determine whether the Y and Z values are flipped on save.</param>
+/// <returns>indicates success or failure</returns>
+HRESULT WriteBinarySTLMeshFile(INuiFusionColorMesh *mesh, LPOLESTR lpOleFileName, bool flipYZ = true);
+
+/// <summary>
+/// Write ASCII Wavefront .OBJ mesh file
+/// See http://en.wikipedia.org/wiki/Wavefront_.obj_file for .OBJ format
+/// </summary>
+/// <param name="mesh">The Kinect Fusion mesh object.</param>
+/// <param name="lpOleFileName">The full path and filename of the file to save.</param>
+/// <param name="flipYZ">Flag to determine whether the Y and Z values are flipped on save.</param>
+/// <returns>indicates success or failure</returns>
+HRESULT WriteAsciiObjMeshFile(INuiFusionColorMesh *mesh, LPOLESTR lpOleFileName, bool flipYZ = true);
+
+/// <summary>
+/// Write ASCII .PLY file
+/// See http://paulbourke.net/dataformats/ply/ for .PLY format
+/// </summary>
+/// <param name="mesh">The Kinect Fusion mesh object.</param>
+/// <param name="lpOleFileName">The full path and filename of the file to save.</param>
+/// <param name="flipYZ">Flag to determine whether the Y and Z values are flipped on save.</param>
+/// <param name="outputColor">Set this true to write out the surface color to the file when it has been captured.</param>
+/// <returns>indicates success or failure</returns>
+HRESULT WriteAsciiPlyMeshFile(INuiFusionColorMesh *mesh, LPOLESTR lpOleFileName, bool flipYZ = true, bool outputColor = false);
+
+/// <summary>
+/// Write ASCII Wavefront .OBJ file with bitmap texture and material file
+/// See http://en.wikipedia.org/wiki/Wavefront_.obj_file for .OBJ format
+/// </summary>
+/// <param name="mesh">The Kinect Fusion mesh object.</param>
+/// <param name="lpOleFileName">The full path and filename of the file to save.</param>
+/// <param name="flipYZ">Flag to determine whether the Y and Z values are flipped on save.</param>
+/// <param name="pTexture">The Kinect Fusion color texture image.</param>
+/// <param name="texcoords">Three Vector3 texture coordinates per mesh triangle, normalized by the image size.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT WriteTexturedeAsciiObjMeshFile(INuiFusionColorMesh *mesh, LPOLESTR lpOleFileName, bool flipYZ, NUI_FUSION_IMAGE_FRAME *pTexture, const std::vector<Vector3> &texcoords);
+
+/// <summary>
+/// Returns whether this is running as a 32 or 64bit application.
+/// </summary>
+/// <returns>TRUE indicates a 64bit app.</returns>
+BOOL Is64BitApp();
+
+/// <summary>
+/// Write 32bit BMP image file
+/// </summary>
+/// <param name="pszFile">The full path and filename of the file to save.</param>
+/// <param name="imageBytes">A pointer to the image bytes to save.</param>
+/// <param name="width">The width of the image to save.</param>
+/// <param name="height">The width of the image to save.</param>
+/// <returns>indicates success or failure</returns>
+HRESULT SaveBMPFile(LPCWSTR pszFile, const byte *pImageBytes, unsigned int width, unsigned int height);
+
+/// <summary>
+/// Copy an image with identical sizes and parameters.
+/// </summary>
+/// <param name="pSrc">A pointer to the source image.</param>
+/// <param name="pDest">A pointer to the destination image.</param>
+/// <returns>indicates success or failure</returns>
+HRESULT CopyImageFrame(const NUI_FUSION_IMAGE_FRAME *pSrc, const NUI_FUSION_IMAGE_FRAME *pDest);
+
+/// <summary>
+/// Horizontally mirror a 32bit (color/float) image in-place.
+/// </summary>
+/// <param name="pImage">A pointer to the image to mirror.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT HorizontalMirror32bitImageInPlace(const NUI_FUSION_IMAGE_FRAME *pImage);
+
+/// <summary>
+/// Horizontally mirror a 32bit (color/float) image.
+/// </summary>
+/// <param name="pSrcImage">A pointer to the image to mirror.</param>
+/// <param name="pDestImage">A pointer to the destination mirrored image.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT HorizontalMirror32bitImage(const NUI_FUSION_IMAGE_FRAME *pSrcImage, const NUI_FUSION_IMAGE_FRAME *pDestImage);
+
+/// <summary>
+/// Color the residual/delta image from the AlignDepthFloatToReconstruction call
+/// </summary>
+/// <param name="pFloatDeltaFromReference">A pointer to the source pFloatDeltaFromReference image.</param>
+/// <param name="pShadedDeltaFromReference">A pointer to the destination ShadedDeltaFromReference image.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT ColorResiduals(const NUI_FUSION_IMAGE_FRAME *pFloatDeltaFromReference, const NUI_FUSION_IMAGE_FRAME *pShadedDeltaFromReference);
+
+/// <summary>
+/// Statistics calculated for a FloatDeltaFromReference Image after the 
+/// AlignDepthFloatToReconstruction and CalculateResidualStatistics calls.
+/// </summary>
+struct DeltaFromReferenceImageStatistics
+{
+    unsigned int totalPixels;
+    unsigned int zeroPixels;
+    unsigned int validPixels;
+    unsigned int invalidDepthOutsideVolumePixels;
+    float totalValidPixelsDistance;
+};
+
+/// <summary>
+/// Calculate statistics on the residual/delta image from the AlignDepthFloatToReconstruction call.
+/// </summary>
+/// <param name="pFloatDeltaFromReference">A pointer to the source FloatDeltaFromReference image.</param>
+/// <param name="stats">A pointer to a DeltaFromReferenceImageStatistics struct to fill with the statistics.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT CalculateResidualStatistics(const NUI_FUSION_IMAGE_FRAME *pFloatDeltaFromReference, DeltaFromReferenceImageStatistics *stats);
+
+/// <summary>
+/// Down sample color, depth float or point cloud frame with nearest neighbor
+/// </summary>
+/// <param name="src">The source color, depth float or pointcloud image.</param>
+/// <param name="dest">The destination down sampled color, depth float or pointcloud image.</param>
+/// <param name="factor">The down sample factor (1=just copy, 2=x/2,y/2, 4=x/4,y/4).</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT DownsampleFrameNearestNeighbor(NUI_FUSION_IMAGE_FRAME *src, NUI_FUSION_IMAGE_FRAME *dest, unsigned int factor);
+
+/// <summary>
+/// Up sample color or depth float (32 bits/pixel) frame with nearest neighbor - replicates pixels
+/// </summary>
+/// <param name="src">The source color image.</param>
+/// <param name="dest">The destination up-sampled color image.</param>
+/// <param name="factor">The up sample factor (1=just copy, 2=x*2,y*2, 4=x*4,y*4).</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT UpsampleFrameNearestNeighbor(NUI_FUSION_IMAGE_FRAME *src, NUI_FUSION_IMAGE_FRAME *dest, unsigned int factor);
+
+/// <summary>
+/// Down sample color frame with nearest neighbor to the depth frame resolution
+/// </summary>
+/// <param name="src">The source color image.</param>
+/// <param name="dest">The destination down sampled  image.</param>
+/// <returns>S_OK on success, otherwise failure code</returns>
+HRESULT DownsampleColorFrameToDepthResolution(NUI_FUSION_IMAGE_FRAME *src, NUI_FUSION_IMAGE_FRAME *dest);
+
+/// <summary>
+/// Convert int to string
+/// </summary>
+/// <param name="theValue">The int value to convert.</param>
+/// <returns>Returns a string containing the int value.</returns>
+inline std::string to_string(int theValue)
+{
+    char buffer[65];
+
+    errno_t err = _itoa_s(theValue, buffer, ARRAYSIZE(buffer), 10);
+
+    if (0 != err)
+    {
+        return std::string("");
+    }
+
+    return std::string(buffer);
+}
+
+/// <summary>
+/// Convert float to string
+/// </summary>
+/// <param name="theValue">The float value to convert.</param>
+/// <returns>Returns a string containing the float value.</returns>
+inline std::string to_string(float theValue)
+{
+    char buffer[_CVTBUFSIZE];
+
+    errno_t err = _gcvt_s(buffer, _CVTBUFSIZE, theValue, 6);
+
+    if (0 != err)
+    {
+        return std::string("");
+    }
+
+    return std::string(buffer);
+}
+
+/// <summary>
+/// Clamp a value if outside two given thresholds
+/// </summary>
+/// <param name="x">The value to clamp.</param>
+/// <param name="a">The minimum inclusive threshold.</param>
+/// <param name="b">The maximum inclusive threshold.</param>
+/// <returns>Returns the clamped value.</returns>
+template <typename T>
+inline T clamp(const T& x, const T& a, const T& b)
+{
+    if (x < a)
+        return a;
+    else if (x > b)
+        return b;
+    else
+        return x;
+}
+
+/// <summary>
+/// Load an 24bit RGB color from a packed int pixel image and return as float values
+/// </summary>
+/// <param name="colorImage">The int image array.</param>
+/// <param name="x">The x coordinate of the pixel to return.</param>
+/// <param name="y">The y coordinate of the pixel to return.</param>
+/// <param name="imageWidth">The width of the image in pixels.</param>
+/// <returns>Returns a Vector3 containing the rgb color components.</returns>
+inline Vector3 load_color(const unsigned int *colorImage, int x, int y, int imageWidth)
+{
+    Vector3 rgb;
+
+    unsigned int packedValue = colorImage[(y * imageWidth) + x];
+
+    rgb.x = static_cast<float>(packedValue & 255);          // r
+    rgb.y = static_cast<float>((packedValue >> 8) & 255);   // g
+    rgb.z = static_cast<float>((packedValue >> 16) & 255);  // b
+
+    return rgb;
+}
+
+/// <summary>
+/// Linearly interpolate (Lerp) between two values.
+/// </summary>
+/// <param name="z">The first value.</param>
+/// <param name="b">The second value.</param>
+/// <param name="f">The amount to interpolate between the values.</param>
+/// <returns>Returns the interpolated value.</returns>
+template <typename T, typename Tf>
+inline auto lerp(const T& a, const T& b, Tf f) -> decltype(a + f * (b - a))
+{
+    return a + f * (b - a);
+}
+
+/// <summary>
+/// Linearly interpolate (Lerp) between two Vector3-based RGB color pixels.
+/// </summary>
+/// <param name="z">The first color pixel.</param>
+/// <param name="b">The second color pixel.</param>
+/// <param name="f">The amount to interpolate between the values.</param>
+/// <returns>Returns the interpolated value.</returns>
+inline Vector3 lerp_color(const Vector3 &a, const Vector3 &b, float f)
+{
+    Vector3 rgb;
+
+    rgb.x = lerp(a.x, b.x, f);  // r
+    rgb.y = lerp(a.y, b.y, f);  // g
+    rgb.z = lerp(a.z, b.z, f);  // b
+
+    return rgb;
+}
+
+/// <summary>
+/// Bilinear sample an RGB int image
+/// </summary>
+/// <param name="colorImage">The int image array.</param>
+/// <param name="x">The x coordinate of the pixel to return.</param>
+/// <param name="y">The y coordinate of the pixel to return.</param>
+/// <param name="imageWidth">The width of the image in pixels.</param>
+/// <param name="imageHeight">The height of the image in pixels.</param>
+/// <returns>Returns a packed int containing the rgb color components.</returns>
+inline unsigned int bilinear_sample(const unsigned int *colorImage, float x, float y, int imageWidth, int imageHeight)
+{
+    const float half = 0.5f;
+
+    const unsigned int xi = static_cast<unsigned int>(x - half);
+    const unsigned int yi = static_cast<unsigned int>(y - half);
+
+    const float xf = x - half - static_cast<float>(xi);
+    const float yf = y - half - static_cast<float>(yi);
+
+    const unsigned int posax = clamp<unsigned int>(xi, 0, imageWidth - 1);
+    const unsigned int posay = clamp<unsigned int>(yi, 0, imageHeight - 1);
+
+    const unsigned int posbx = clamp<unsigned int>(xi+1, 0, imageWidth - 1);
+    const unsigned int posby = clamp<unsigned int>(yi+1, 0, imageHeight - 1);
+
+    // Load the corners
+    Vector3 d00 = load_color(colorImage, posax, posay, imageWidth);
+    Vector3 d01 = load_color(colorImage, posax, posby, imageWidth);
+    Vector3 d10 = load_color(colorImage, posbx, posay, imageWidth);
+    Vector3 d11 = load_color(colorImage, posbx, posby, imageWidth);
+
+    // Interpolate over x
+    auto dx0 = lerp_color(d00, d10, xf);
+    auto dx1 = lerp_color(d01, d11, xf);
+
+    // Interpolate over y
+    auto dxy = lerp_color(dx0, dx1, yf);
+
+    return (255 << 24 | static_cast<unsigned int>(dxy.z) << 16 | static_cast<unsigned int>(dxy.y) << 8 | static_cast<unsigned int>(dxy.x) );  // always full alpha
+}
+
+/// <summary>
+/// Calculate the squared difference between two Vector3 vertices
+/// </summary>
+/// <param name="v1">The first vertex.</param>
+/// <param name="v2">The second vertex.</param>
+/// <returns>Returns the squared difference.</returns>
+inline float squared_difference(const Vector3 &v1, const Vector3 &v2)
+{
+    float dx = v1.x-v2.x;
+    float dy = v1.y-v2.y;
+    float dz = v1.z-v2.z;
+    return (dx*dx) + (dy*dy) + (dz*dz);
+}
+
+/// <summary>
+/// Calculate the distance between two Vector3 vertices
+/// </summary>
+/// <param name="v1">The first vertex.</param>
+/// <param name="v2">The second vertex.</param>
+/// <returns>Returns the distance.</returns>
+inline float distance(const Vector3 &v1, const Vector3 &v2)
+{
+    return sqrtf(squared_difference(v1, v2));
+}
+
+/// <summary>
+/// Calculate the normalized dot product between two vectors.
+/// Must be normalized input Vector3s.
+/// Output: 1 if parallel, same dir, 0 if 90 degrees, -1 if parallel, looking opposite direction 
+/// </summary>
+/// <param name="v1">The first vector.</param>
+/// <param name="v2">The second vector.</param>
+/// <returns>Returns the dot product.</returns>
+inline float dot_normalized(const Vector3 &v1, const Vector3 &v2)
+{
+    return (v1.x*v2.x) + (v1.y*v2.y) + (v1.z*v2.z);
+}
+
+/// <summary>
+/// Transform a vertex in the world coordinate system by the worldToCamera pose,
+/// into the camera coordinate system.
+/// </summary>
+/// <param name="v1">The vertex to transform.</param>
+/// <param name="worldToCamera">The worldToCamera pose.</param>
+/// <returns>Returns the transformed vertex.</returns>
+inline Vector3 transform(const Vector3 &v1, const Matrix4 &worldToCamera)
+{
+    // Transform the point from the global frame into the local camera frame.
+    Vector3 R;
+
+    R.x = worldToCamera.M41 + (worldToCamera.M11 * v1.x) + (worldToCamera.M21 * v1.y) + (worldToCamera.M31 * v1.z);
+    R.y = worldToCamera.M42 + (worldToCamera.M12 * v1.x) + (worldToCamera.M22 * v1.y) + (worldToCamera.M32 * v1.z);
+    R.z = worldToCamera.M43 + (worldToCamera.M13 * v1.x) + (worldToCamera.M23 * v1.y) + (worldToCamera.M33 * v1.z);
+
+    return R;
+}
+
+/// <summary>
+/// Project a 3D vertex in the world coordinate system into a 2D camera image,
+/// given its known intrinsic parameters and camera pose.
+/// </summary>
+/// <param name="v1">The vertex to transform.</param>
+/// <param name="flx">The focal length in the x axis, in pixels.</param>
+/// <param name="fly">The focal length in the y axis, in pixels.</param>
+/// <param name="ppx">The principal point of the image in the x axis, in pixels.</param>
+/// <param name="ppy">The principal point of the image in the y axis, in pixels.</param>
+/// <param name="worldToCamera">The worldToCamera pose.</param>
+/// <returns>Returns the 3D vertex transformed into a pixel in the 2D camera image.</returns>
+inline Vector3 fast_project(const Vector3 &v1, float flx, float fly, float ppx, float ppy, const Matrix4 &worldToCamera) 
+{
+    // Transform from world to camera coordinate system
+    Vector3 R = transform(v1, worldToCamera);
+
+    Vector3 uv;
+    uv.x = R.x / R.z;
+    uv.y = R.y / R.z;
+
+    // Project from camera plane in world to image
+    uv.x = ppx +  flx * uv.x;
+    uv.y = ppy +  fly * uv.y;
+
+    uv.z = R.z;
+    return uv;
+}
diff --git a/codes/Kinect2Sample-master/sample/Fusion/app.cpp b/codes/Kinect2Sample-master/sample/Fusion/app.cpp
new file mode 100644
index 0000000..9334d63
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Fusion/app.cpp
@@ -0,0 +1,365 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+#include <ppl.h>
+#include <atlbase.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+        else if( key == 'r' ){
+            std::cout << "Reset Reconstruction" << std::endl;
+            reset();
+        }
+        else if( key == 's' ){
+            std::cout << "Save Mesh Data to File" << std::endl;
+            save();
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Depth
+    initializeDepth();
+
+    // Initialize Fusion
+    initializeFusion();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Depth
+inline void Kinect::initializeDepth()
+{
+    // Open Depth Reader
+    ComPtr<IDepthFrameSource> depthFrameSource;
+    ERROR_CHECK( kinect->get_DepthFrameSource( &depthFrameSource ) );
+    ERROR_CHECK( depthFrameSource->OpenReader( &depthFrameReader ) );
+
+    // Retrieve Depth Description
+    ComPtr<IFrameDescription> depthFrameDescription;
+    ERROR_CHECK( depthFrameSource->get_FrameDescription( &depthFrameDescription ) );
+    ERROR_CHECK( depthFrameDescription->get_Width( &depthWidth ) ); // 512
+    ERROR_CHECK( depthFrameDescription->get_Height( &depthHeight ) ); // 424
+    ERROR_CHECK( depthFrameDescription->get_BytesPerPixel( &depthBytesPerPixel ) ); // 2
+
+    // Allocation Depth Buffer
+    depthBuffer.resize( depthWidth * depthHeight );
+}
+
+// Initialize Fusion
+inline void Kinect::initializeFusion()
+{
+    // Set Reconstruction Parameters
+    reconstructionParameters.voxelsPerMeter = 256;
+    reconstructionParameters.voxelCountX = 512;
+    reconstructionParameters.voxelCountY = 384;
+    reconstructionParameters.voxelCountZ = 512;
+
+    // Create Reconstruction
+    SetIdentityMatrix( worldToCameraTransform );
+    ERROR_CHECK( NuiFusionCreateColorReconstruction( &reconstructionParameters, NUI_FUSION_RECONSTRUCTION_PROCESSOR_TYPE::NUI_FUSION_RECONSTRUCTION_PROCESSOR_TYPE_AMP, -1, &worldToCameraTransform, &reconstruction ) );
+
+    // Set Camera Parameters
+    cameraParameters.focalLengthX = NUI_KINECT_DEPTH_NORM_FOCAL_LENGTH_X;
+    cameraParameters.focalLengthY = NUI_KINECT_DEPTH_NORM_FOCAL_LENGTH_Y;
+    cameraParameters.principalPointX = NUI_KINECT_DEPTH_NORM_PRINCIPAL_POINT_X;
+    cameraParameters.principalPointY = NUI_KINECT_DEPTH_NORM_PRINCIPAL_POINT_Y;
+
+    // Create Image Frame Buffers
+    ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_FLOAT, depthWidth, depthHeight, &cameraParameters, &depthImageFrame ) );
+    ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_FLOAT, depthWidth, depthHeight, &cameraParameters, &smoothDepthImageFrame ) );
+    ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_COLOR, depthWidth, depthHeight, &cameraParameters, &colorImageFrame ) );
+    ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_POINT_CLOUD, depthWidth, depthHeight, &cameraParameters, &pointCloudImageFrame ) );
+    ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_COLOR, depthWidth, depthHeight, &cameraParameters, &surfaceImageFrame ) );
+    /*ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_COLOR, depthWidth, depthHeight, &cameraParameters, &normalImageFrame ) );*/
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Release Image Frame Buffers
+    ERROR_CHECK( NuiFusionReleaseImageFrame( depthImageFrame ) );
+    ERROR_CHECK( NuiFusionReleaseImageFrame( smoothDepthImageFrame ) );
+    ERROR_CHECK( NuiFusionReleaseImageFrame( colorImageFrame ) );
+    ERROR_CHECK( NuiFusionReleaseImageFrame( pointCloudImageFrame ) );
+    ERROR_CHECK( NuiFusionReleaseImageFrame( surfaceImageFrame ) );
+    /*ERROR_CHECK( NuiFusionReleaseImageFrame( normalImageFrame ) );*/
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Depth
+    updateDepth();
+
+    // Update Fusion
+    updateFusion();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Depth
+inline void Kinect::updateDepth()
+{
+    // Retrieve Depth Frame
+    ComPtr<IDepthFrame> depthFrame;
+    const HRESULT ret = depthFrameReader->AcquireLatestFrame( &depthFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Depth Data
+    ERROR_CHECK( depthFrame->CopyFrameDataToArray( static_cast<UINT>( depthBuffer.size() ), &depthBuffer[0] ) );
+}
+
+// Update Fusion
+inline void Kinect::updateFusion()
+{
+    // Set Depth Data to Depth Float Frame Buffer
+    ERROR_CHECK( reconstruction->DepthToDepthFloatFrame( &depthBuffer[0], static_cast<UINT>( depthBuffer.size() * depthBytesPerPixel ), depthImageFrame, NUI_FUSION_DEFAULT_MINIMUM_DEPTH/* 0.5[m] */, NUI_FUSION_DEFAULT_MAXIMUM_DEPTH/* 8.0[m] */, true ) );
+
+    // Smoothing Depth Float Frame
+    ERROR_CHECK( reconstruction->SmoothDepthFloatFrame( depthImageFrame, smoothDepthImageFrame, NUI_FUSION_DEFAULT_SMOOTHING_KERNEL_WIDTH, NUI_FUSION_DEFAULT_SMOOTHING_DISTANCE_THRESHOLD ) );
+
+    // Retrieve Mapped Coordinates
+    std::vector<ColorSpacePoint> points( depthWidth * depthHeight );
+    ERROR_CHECK( coordinateMapper->MapDepthFrameToColorSpace( depthWidth * depthHeight, &depthBuffer[0], depthWidth * depthHeight, &points[0] ) );
+
+    // Mapping Color to Depth Resolution and Set Color Data to Color Frame Buffer
+    NUI_FUSION_BUFFER* colorImageFrameBuffer = colorImageFrame->pFrameBuffer;
+    RGBQUAD* src = reinterpret_cast<RGBQUAD*>( &colorBuffer[0] );
+    RGBQUAD* dst = reinterpret_cast<RGBQUAD*>( colorImageFrameBuffer->pBits );
+    Concurrency::parallel_for( 0, depthHeight, [&]( const int y ){
+        for( int x = 0; x < depthWidth; x++ ){
+            unsigned int index = y * depthWidth + x;
+            const ColorSpacePoint point = points[index];
+            int colorX = static_cast<int>( point.X + 0.5f );
+            int colorY = static_cast<int>( point.Y + 0.5f );
+            if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){
+                dst[index] = src[colorY * colorWidth + colorX];
+            }
+            else{
+                dst[index] = {};
+            }
+        }
+    } );
+
+    // Retrieve Transformation Matrix to Camera Coordinate System from World Coordinate System
+    ERROR_CHECK( reconstruction->GetCurrentWorldToCameraTransform( &worldToCameraTransform ) );
+
+    // Reconstruction Frame Process 
+    HRESULT ret = reconstruction->ProcessFrame( smoothDepthImageFrame, colorImageFrame, NUI_FUSION_DEFAULT_ALIGN_ITERATION_COUNT, NUI_FUSION_DEFAULT_INTEGRATION_WEIGHT, NUI_FUSION_DEFAULT_COLOR_INTEGRATION_OF_ALL_ANGLES, nullptr, &worldToCameraTransform );
+    if( FAILED( ret ) ){
+        // Reset Reconstruction when Retrived Many Accumulated Error Frames ( Over 100 Error Frames )
+        static unsigned int errorCount = 0;
+        if( ++errorCount >= 100 ){
+            errorCount = 0;
+            reset();
+        }
+    }
+
+    // Calculate Point Cloud
+    ERROR_CHECK( reconstruction->CalculatePointCloud( pointCloudImageFrame, surfaceImageFrame, &worldToCameraTransform ) );
+
+    /*
+    // Shading Color Transform Matrix
+    Matrix4 worldToBGRTransform = { 0.0f };
+    worldToBGRTransform.M11 = reconstructionParameters.voxelsPerMeter / reconstructionParameters.voxelCountX;
+    worldToBGRTransform.M22 = reconstructionParameters.voxelsPerMeter / reconstructionParameters.voxelCountY;
+    worldToBGRTransform.M33 = reconstructionParameters.voxelsPerMeter / reconstructionParameters.voxelCountZ;
+    worldToBGRTransform.M41 = 0.5f;
+    worldToBGRTransform.M42 = 0.5f;
+    worldToBGRTransform.M43 = 0.0f;
+    worldToBGRTransform.M44 = 1.0f;
+
+    // Shading Point Cloud
+    ERROR_CHECK( NuiFusionShadePointCloud( pointCloudImageFrame, &worldToCameraTransform, &worldToBGRTransform, surfaceImageFrame, normalImageFrame ) );
+    */
+}
+
+// Reset Reconstruction
+inline void Kinect::reset()
+{
+    // Set Identity Matrix
+    SetIdentityMatrix( worldToCameraTransform );
+
+    // Reset Reconstruction
+    ERROR_CHECK( reconstruction->ResetReconstruction( &worldToCameraTransform, nullptr ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Fusion
+    drawFusion();
+}
+
+// Draw Fusion
+inline void Kinect::drawFusion()
+{
+    // Retrive Surface Image from Surface Frame Buffer
+    NUI_FUSION_BUFFER* surfaceImageFrameBuffer = surfaceImageFrame->pFrameBuffer;
+    surfaceMat = cv::Mat( depthHeight, depthWidth, CV_8UC4, surfaceImageFrameBuffer->pBits );
+
+    /*
+    // Retrive Normal Image from Normal Frame Buffer
+    NUI_FUSION_BUFFER* normalImageFrameBuffer = normalImageFrame->pFrameBuffer;
+    normalMat = cv::Mat( depthHeight, depthWidth, CV_8UC4, normalImageFrameBuffer->pBits );
+    */
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Fusion
+    showFusion();
+}
+
+// Show Fusion
+inline void Kinect::showFusion()
+{
+    if( surfaceMat.empty() ){
+        return;
+    }
+
+    // Show Surface Image
+    cv::imshow( "Surface", surfaceMat );
+
+    /*
+    if( normalMat.empty() ){
+        return;
+    }
+
+    // Show Normal Image
+    cv::imshow( "Normal", normalMat );
+    */
+}
+
+// Save Mesh
+inline void Kinect::save()
+{
+    // Calculate Mesh Data
+    ComPtr<INuiFusionColorMesh> mesh;
+    ERROR_CHECK( reconstruction->CalculateMesh( 1, &mesh ) );
+
+    // Save Mesh Data to PLY File
+    wchar_t* fileName = L"../mesh.ply";
+    WriteAsciiPlyMeshFile( mesh.Get(), W2OLE( fileName ), true, true );
+
+    /*
+    // Save Mesh Data to STL File
+    wchar_t* fileName = L"../mesh.stl";
+    ERROR_CHECK( WriteBinarySTLMeshFile( mesh, W2OLE( fileName ), true ) );
+    */
+
+    /*
+    // Save Mesh Data to Obj File
+    wchar_t* fileName = L"../mesh.obj";
+    ERROR_CHECK( WriteAsciiObjMeshFile( mesh, W2OLE( fileName ), true ) );
+    */
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Fusion/app.h b/codes/Kinect2Sample-master/sample/Fusion/app.h
new file mode 100644
index 0000000..afaa476
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Fusion/app.h
@@ -0,0 +1,118 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <NuiKinectFusionApi.h>
+// Quote from Kinect for Windows SDK v2.0 - Samples/Native/KinectFusionExplorer-D2D, and Partial Modification
+// KinectFusionHelper is: Copyright (c) Microsoft Corporation. All rights reserved.
+#include "KinectFusionHelper.h"
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IDepthFrameReader> depthFrameReader;
+
+    // Fusion
+    ComPtr<INuiFusionColorReconstruction> reconstruction;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+
+    // Depth Buffer
+    std::vector<UINT16> depthBuffer;
+    int depthWidth;
+    int depthHeight;
+    unsigned int depthBytesPerPixel;
+
+    // Fusion Buffer
+    NUI_FUSION_IMAGE_FRAME* depthImageFrame;
+    NUI_FUSION_IMAGE_FRAME* smoothDepthImageFrame;
+    NUI_FUSION_IMAGE_FRAME* colorImageFrame;
+    NUI_FUSION_IMAGE_FRAME* pointCloudImageFrame;
+    NUI_FUSION_IMAGE_FRAME* surfaceImageFrame;
+    /*NUI_FUSION_IMAGE_FRAME* normalImageFrame;*/
+    NUI_FUSION_RECONSTRUCTION_PARAMETERS reconstructionParameters;
+    NUI_FUSION_CAMERA_PARAMETERS cameraParameters;
+    Matrix4 worldToCameraTransform;
+    cv::Mat surfaceMat;
+    /*cv::Mat normalMat;*/
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Depth
+    inline void initializeDepth();
+
+    // Initialize Fusion
+    inline void initializeFusion();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Depth
+    inline void updateDepth();
+
+    // Update Fusion
+    inline void updateFusion();
+
+    // Reset Reconstruction
+    inline void reset();
+
+    // Draw Data
+    void draw();
+
+    // Draw Fusion
+    inline void drawFusion();
+
+    // Show Data
+    void show();
+
+    // Show Fusion
+    inline void showFusion();
+
+    // Save Mesh
+    inline void save();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Fusion/main.cpp b/codes/Kinect2Sample-master/sample/Fusion/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Fusion/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Fusion/util.h b/codes/Kinect2Sample-master/sample/Fusion/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Fusion/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Gesture/CMakeLists.txt b/codes/Kinect2Sample-master/sample/Gesture/CMakeLists.txt
new file mode 100644
index 0000000..dc9e778
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Gesture/CMakeLists.txt
@@ -0,0 +1,47 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( Gesture app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "Gesture" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+set( KinectSDK2_VGB TRUE )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( Gesture ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( Gesture ${OpenCV_LIBS} )
+
+  # Post Build Event
+  add_custom_command( TARGET Gesture POST_BUILD ${KinectSDK2_COMMANDS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Gesture/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/Gesture/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Gesture/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Gesture/SampleDatabase.gbd b/codes/Kinect2Sample-master/sample/Gesture/SampleDatabase.gbd
new file mode 100644
index 0000000..81b224e
Binary files /dev/null and b/codes/Kinect2Sample-master/sample/Gesture/SampleDatabase.gbd differ
diff --git a/codes/Kinect2Sample-master/sample/Gesture/app.cpp b/codes/Kinect2Sample-master/sample/Gesture/app.cpp
new file mode 100644
index 0000000..8432279
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Gesture/app.cpp
@@ -0,0 +1,431 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+#include <iostream>
+#include <iomanip>
+
+#include <ppl.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Body
+    initializeBody();
+
+    // Initialize Gesture
+    initializeGesture();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Body
+inline void Kinect::initializeBody()
+{
+    // Open Body Reader
+    ComPtr<IBodyFrameSource> bodyFrameSource;
+    ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
+    ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
+}
+
+// Initialize Gesture
+inline void Kinect::initializeGesture()
+{
+    for( int count = 0; count < BODY_COUNT; count++ ){
+        // Create Gesture Source
+        ComPtr<IVisualGestureBuilderFrameSource> gestureFrameSource;
+        ERROR_CHECK( CreateVisualGestureBuilderFrameSource( kinect.Get(), 0, &gestureFrameSource ) );
+
+        // Open Gesture Reader
+        ERROR_CHECK( gestureFrameSource->OpenReader( &gestureFrameReader[count] ) );
+    };
+
+    // Read Gesture Databese from File (*.gdb)
+    // SampleDatabase recognize gestures that is steering wheel operations of car.
+    ComPtr<IVisualGestureBuilderDatabase> gestureDatabase;
+    ERROR_CHECK( CreateVisualGestureBuilderDatabaseInstanceFromFile( L"../SampleDatabase.gbd", &gestureDatabase ) );
+
+    // Retrive Number of Gestures that included in Gesture Database
+    UINT gestureCount;
+    ERROR_CHECK( gestureDatabase->get_AvailableGesturesCount( &gestureCount ) );
+
+    // Retrive Gestures
+    gestures.resize( gestureCount );
+    ERROR_CHECK( gestureDatabase->get_AvailableGestures( gestureCount, &gestures[0] ) );
+
+    for( int count = 0; count < BODY_COUNT; count++ ){
+        // Create Gesture Source
+        ComPtr<IVisualGestureBuilderFrameSource> gestureFrameSource;
+        ERROR_CHECK( gestureFrameReader[count]->get_VisualGestureBuilderFrameSource( &gestureFrameSource ) );
+
+        // Registration Gestures
+        ERROR_CHECK( gestureFrameSource->AddGestures( gestureCount, gestures[0].GetAddressOf() ) );
+
+        // Set Gesture Detection to Enable
+        Concurrency::parallel_for_each( gestures.begin(), gestures.end(), [&]( const ComPtr<IGesture>& gesture ){
+            ERROR_CHECK( gestureFrameSource->SetIsEnabled( gesture.Get(), TRUE ) );
+        } );
+    }
+
+    // Color Table for Visualization
+    colors[0] = cv::Vec3b( 255,   0,   0 ); // Blue
+    colors[1] = cv::Vec3b(   0, 255,   0 ); // Green
+    colors[2] = cv::Vec3b(   0,   0, 255 ); // Red
+    colors[3] = cv::Vec3b( 255, 255,   0 ); // Cyan
+    colors[4] = cv::Vec3b( 255,   0, 255 ); // Magenta
+    colors[5] = cv::Vec3b(   0, 255, 255 ); // Yellow
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Body
+    updateBody();
+
+    // Update Gesture
+    updateGesture();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Body
+inline void Kinect::updateBody()
+{
+    // Retrieve Body Frame
+    ComPtr<IBodyFrame> bodyFrame;
+    const HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Body Data
+    std::array<ComPtr<IBody>, BODY_COUNT> bodies = { nullptr };
+    ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( static_cast<UINT>( bodies.size() ), &bodies[0] ) );
+
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const ComPtr<IBody> body = bodies[count];
+        BOOLEAN tracked;
+        ERROR_CHECK( body->get_IsTracked( &tracked ) );
+        if( !tracked ){
+            return;
+        }
+
+        // Retrieve Tracking ID
+        UINT64 trackingId;
+        ERROR_CHECK( body->get_TrackingId( &trackingId ) );
+
+        // Registration Tracking ID
+        ComPtr<IVisualGestureBuilderFrameSource> gestureFrameSource;
+        ERROR_CHECK( gestureFrameReader[count]->get_VisualGestureBuilderFrameSource( &gestureFrameSource ) );
+        gestureFrameSource->put_TrackingId( trackingId );
+    } );
+}
+
+// Update Gesture
+inline void Kinect::updateGesture()
+{
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        // Clear Gesture Result Buffer
+        std::vector<std::string>& result = results[count];
+        result.clear();
+
+        // Retrieve Gesture Frame
+        ComPtr<IVisualGestureBuilderFrame> gestureFrame;
+        HRESULT ret = gestureFrameReader[count]->CalculateAndAcquireLatestFrame( &gestureFrame );
+        if( FAILED( ret ) ){
+            return;
+        }
+
+        // Check Tracking ID is Valid
+        BOOLEAN tracked;
+        ERROR_CHECK( gestureFrame->get_IsTrackingIdValid( &tracked ) );
+        if( !tracked ){
+            return;
+        }
+
+        // Retrieve Gesture Result
+        Concurrency::parallel_for_each( gestures.begin(), gestures.end(), [&]( const ComPtr<IGesture>& gesture ){
+            // Switch Processing of Retrieve Gesture Result by Gesture Type
+            GestureType gestureType;
+            ERROR_CHECK( gesture->get_GestureType( &gestureType ) );
+
+            switch( gestureType ){
+                case GestureType::GestureType_Discrete:
+                {
+                    // Retrieve Discrete Gesture Result
+                    const std::string gestureResult = retrieveDiscreteGestureResult( gestureFrame, gesture );
+
+                    // Add Gesture Result to Buffer
+                    if( !gestureResult.empty() ){
+                        result.push_back( gestureResult );
+                    }
+
+                    break;
+                }
+                case GestureType::GestureType_Continuous:
+                {
+                    // Retrieve Continuous Gesture Result
+                    const std::string gestureResult = retrieveContinuousGestureResult( gestureFrame, gesture );
+
+                    // Add Gesture Result Buffer
+                    result.push_back( gestureResult );
+
+                    break;
+                }
+            }
+        } );
+    } );
+}
+
+// Retrieve Discrete Gesture Result
+inline std::string Kinect::retrieveDiscreteGestureResult( const ComPtr<IVisualGestureBuilderFrame>& gestureFrame, const ComPtr<IGesture>& gesture )
+{
+    // Retrieve Discrete Gesture Result
+    ComPtr<IDiscreteGestureResult> gestureResult;
+    ERROR_CHECK( gestureFrame->get_DiscreteGestureResult( gesture.Get(), &gestureResult ) );
+
+    // Check Detected
+    BOOLEAN detected;
+    ERROR_CHECK( gestureResult->get_Detected( &detected ) );
+    if( !detected ){
+        return "";
+    }
+
+    // Retrieve Confidence ( 0.0f - 1.0f )
+    float confidence;
+    ERROR_CHECK( gestureResult->get_Confidence( &confidence ) );
+    const std::string gestureConfidence = std::to_string( confidence );
+
+    // Retrive Gesture Name
+    const std::string gestureName = gesture2string( gesture );
+
+    return gestureName + " : Detected (" + gestureConfidence + ")";
+}
+
+// Retrieve Continuous Gesture Result
+inline std::string Kinect::retrieveContinuousGestureResult( const ComPtr<IVisualGestureBuilderFrame>& gestureFrame, const ComPtr<IGesture>& gesture )
+{
+    // Retrieve Continuous Gesture Result
+    ComPtr<IContinuousGestureResult> gestureResult;
+    ERROR_CHECK( gestureFrame->get_ContinuousGestureResult( gesture.Get(), &gestureResult ) );
+
+    // Retrieve Progress ( 0.0f - 1.0f )
+    float progress;
+    ERROR_CHECK( gestureResult->get_Progress( &progress ) );
+
+    // Adjustment Decimal Point Format ( Visualization to Two Decimal Places )
+    std::ostringstream oss;
+    oss << std::fixed << std::setprecision( 2 ) << ( progress * 100.0f );
+    const std::string gestureProgress = oss.str();
+
+    // Retrive Gesture Name
+    const std::string gestureName = gesture2string( gesture );
+
+    return gestureName + " : Progress " + gestureProgress + "%";
+}
+
+// Retrive Gesture Name
+inline std::string Kinect::gesture2string( const ComPtr<IGesture>& gesture )
+{
+    // Retrive Gesture Name
+    std::wstring buffer( BUFSIZ, L' ' );
+    ERROR_CHECK( gesture->get_Name( BUFSIZ, &buffer[0] ) );
+
+    // Trim Valid String Except Blank
+    const std::wstring::size_type last = buffer.find_last_not_of( L' ' );
+    if( last == std::wstring::npos ){
+        throw std::runtime_error( "failed " __FUNCTION__ );
+    }
+    const std::wstring temp = buffer.substr( 0, last );
+
+    // Convert Wide String to String
+    const std::string name( temp.begin(), temp.end() );
+
+    return name;
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw Gesture
+    drawGesture();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+}
+
+// Draw Gesture
+inline void Kinect::drawGesture()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Reset New Line Offset for Visualization
+    offset = 0;
+
+    // Draw Gesture Results
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const std::vector<std::string>& result = results[count];
+        drawResult( colorMat, result, cv::Point( 50, 50 ), 1.0, colors[count] );
+    } );
+}
+
+// Draw Results
+inline void Kinect::drawResult( cv::Mat& image, const std::vector<std::string>& results, const cv::Point& point, const double scale, const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Check Empty Gesture Result Buffer
+    if( results.empty() ){
+        return;
+    }
+
+    // Draw Results
+    for( const std::string result : results ){
+        cv::putText( image, result, cv::Point( point.x, point.y + offset ), cv::FONT_HERSHEY_SIMPLEX, scale, color, thickness, cv::LINE_AA );
+        offset += 30;
+    }
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Gesture
+    showGesture();
+}
+
+// Show Gesture
+inline void Kinect::showGesture()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Gesture", resizeMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Gesture/app.h b/codes/Kinect2Sample-master/sample/Gesture/app.h
new file mode 100644
index 0000000..2dc2559
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Gesture/app.h
@@ -0,0 +1,114 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <Kinect.VisualGestureBuilder.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+#include <array>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+#include <array>
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IBodyFrameReader> bodyFrameReader;
+    std::array<ComPtr<IVisualGestureBuilderFrameReader>, BODY_COUNT> gestureFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Gesture Buffer
+    std::vector<ComPtr<IGesture>> gestures;
+    std::array<std::vector<std::string>, BODY_COUNT> results;
+
+    std::array<cv::Vec3b, BODY_COUNT> colors;
+    int offset;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Body
+    inline void initializeBody();
+
+    // Initialize Gesture
+    inline void initializeGesture();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Body
+    inline void updateBody();
+
+    // Update Gesture
+    inline void updateGesture();
+
+    // Retrieve Discrete Gesture Result
+    inline std::string retrieveDiscreteGestureResult( const ComPtr<IVisualGestureBuilderFrame>& gestureFrame, const ComPtr<IGesture>& gesture );
+
+    // Retrieve Continuous Gesture Result
+    inline std::string retrieveContinuousGestureResult( const ComPtr<IVisualGestureBuilderFrame>& gestureFrame, const ComPtr<IGesture>& gesture );
+
+    // Retrive Gesture Name
+    inline std::string gesture2string( const ComPtr<IGesture>& gesture );
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw Gesture
+    inline void drawGesture();
+
+    // Draw Results
+    inline void drawResult( cv::Mat& image, const std::vector<std::string>& results, const cv::Point& point, const double scale, const cv::Vec3b& color, const int thickness = 2 );
+
+    // Show Data
+    void show();
+
+    // Show Gesture
+    inline void showGesture();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Gesture/main.cpp b/codes/Kinect2Sample-master/sample/Gesture/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Gesture/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Gesture/util.h b/codes/Kinect2Sample-master/sample/Gesture/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Gesture/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/HDFace/CMakeLists.txt b/codes/Kinect2Sample-master/sample/HDFace/CMakeLists.txt
new file mode 100644
index 0000000..648baff
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/HDFace/CMakeLists.txt
@@ -0,0 +1,47 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( HDFace app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "HDFace" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+set( KinectSDK2_FACE TRUE )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( HDFace ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( HDFace ${OpenCV_LIBS} )
+
+  # Post Build Event
+  add_custom_command( TARGET HDFace POST_BUILD ${KinectSDK2_COMMANDS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/HDFace/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/HDFace/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/HDFace/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/HDFace/app.cpp b/codes/Kinect2Sample-master/sample/HDFace/app.cpp
new file mode 100644
index 0000000..50f9ba2
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/HDFace/app.cpp
@@ -0,0 +1,478 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+#include <limits>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+#include <ppl.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Body
+    initializeBody();
+
+    // Initialize HDFace
+    initializeHDFace();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Body
+inline void Kinect::initializeBody()
+{
+    // Open Body Reader
+    ComPtr<IBodyFrameSource> bodyFrameSource;
+    ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
+    ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
+}
+
+// Initialize HDFace
+inline void Kinect::initializeHDFace()
+{
+    // Create HDFace Sources
+    ComPtr<IHighDefinitionFaceFrameSource> hdFaceFrameSource;
+    ERROR_CHECK( CreateHighDefinitionFaceFrameSource( kinect.Get(), &hdFaceFrameSource ) );
+
+    // Open HDFace Readers
+    ERROR_CHECK( hdFaceFrameSource->OpenReader( &hdFaceFrameReader ) );
+
+    // Create Face Alignment
+    ERROR_CHECK( CreateFaceAlignment( &faceAlignment ) );
+
+    // Create Face Model and Retrieve Vertex Count
+    ERROR_CHECK( CreateFaceModel( 1.0f, FaceShapeDeformations::FaceShapeDeformations_Count, &faceShapeUnits[0], &faceModel ) );
+    ERROR_CHECK( GetFaceModelVertexCount( &vertexCount ) ); // 1347
+
+    // Create and Start Face Model Builder
+    FaceModelBuilderAttributes attribures = FaceModelBuilderAttributes::FaceModelBuilderAttributes_None;
+    ERROR_CHECK( hdFaceFrameSource->OpenModelBuilder( attribures, &faceModelBuilder ) );
+    ERROR_CHECK( faceModelBuilder->BeginFaceDataCollection() );
+
+    // Color Table for Visualization
+    colors[0] = cv::Vec3b( 255,   0,   0 ); // Blue
+    colors[1] = cv::Vec3b(   0, 255,   0 ); // Green
+    colors[2] = cv::Vec3b(   0,   0, 255 ); // Red
+    colors[3] = cv::Vec3b( 255, 255,   0 ); // Cyan
+    colors[4] = cv::Vec3b( 255,   0, 255 ); // Magenta
+    colors[5] = cv::Vec3b(   0, 255, 255 ); // Yellow
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Body
+    updateBody();
+
+    // Update HDFace
+    updateHDFace();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Body
+inline void Kinect::updateBody()
+{
+    // Retrieve Body Frame
+    ComPtr<IBodyFrame> bodyFrame;
+    const HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Body Data
+    std::array<ComPtr<IBody>, BODY_COUNT> bodies;
+    ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( static_cast<UINT>( bodies.size() ), &bodies[0] ) );
+
+    // Find Closest Body
+    findClosestBody( bodies );
+}
+
+// Find Closest Body
+inline void Kinect::findClosestBody( const std::array<ComPtr<IBody>, BODY_COUNT>& bodies )
+{
+    float closestDistance = std::numeric_limits<float>::max();
+    for( int count = 0; count < BODY_COUNT; count++ ){
+        const ComPtr<IBody> body = bodies[count];
+        BOOLEAN tracked;
+        ERROR_CHECK( body->get_IsTracked( &tracked ) );
+        if( !tracked ){
+            continue;
+        }
+
+        // Retrieve Joint (Head)
+        std::array<Joint, JointType::JointType_Count> joints;
+        ERROR_CHECK( body->GetJoints( static_cast<UINT>( joints.size() ), &joints[0] ) );
+        const Joint joint = joints[JointType::JointType_Head];
+        if( joint.TrackingState == TrackingState::TrackingState_NotTracked ){
+            continue;
+        }
+
+        // Calculate Distance from Sensor ( ��( x^2 + y^2 + z^2 ) )
+        const CameraSpacePoint point = joint.Position;
+        const float distance = std::sqrt( std::pow( point.X, 2 ) + std::pow( point.Y, 2 ) + std::pow( point.Z, 2 ) );
+        if( closestDistance <= distance ){
+            continue;
+        }
+        closestDistance = distance;
+
+        // Retrieve Tracking ID
+        UINT64 trackingId;
+        ERROR_CHECK( body->get_TrackingId( &trackingId ) );
+        if( this->trackingId == trackingId ){
+            continue;
+        }
+
+        // Registration Tracking ID
+        ComPtr<IHighDefinitionFaceFrameSource> hdFaceFrameSource;
+        ERROR_CHECK( hdFaceFrameReader->get_HighDefinitionFaceFrameSource( &hdFaceFrameSource ) );
+        ERROR_CHECK( hdFaceFrameSource->put_TrackingId( trackingId ) );
+
+        // Update Current
+        this->trackingId = trackingId;
+        this->trackingCount = count;
+        this->produced = false;
+    }
+}
+
+// Update HDFace
+inline void Kinect::updateHDFace()
+{
+    // Retrieve HDFace Frame
+    ComPtr<IHighDefinitionFaceFrame> hdFaceFrame;
+    const HRESULT ret = hdFaceFrameReader->AcquireLatestFrame( &hdFaceFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Check Traced
+    BOOLEAN tracked;
+    ERROR_CHECK( hdFaceFrame->get_IsFaceTracked( &tracked ) );
+    if( !tracked ){
+        return;
+    }
+
+    // Retrieve Face Alignment Result
+    ERROR_CHECK( hdFaceFrame->GetAndRefreshFaceAlignmentResult( faceAlignment.Get() ) );
+
+    // Check Face Model Builder Status
+    FaceModelBuilderCollectionStatus collection;
+    ERROR_CHECK( faceModelBuilder->get_CollectionStatus( &collection ) );
+    if( collection ){
+        return;
+    }
+
+    // Retrieve Fitting Face Model
+    ComPtr<IFaceModelData> faceModelData;
+    ERROR_CHECK( faceModelBuilder->GetFaceData( &faceModelData ) );
+    ERROR_CHECK( faceModelData->ProduceFaceModel( &faceModel ) );
+    produced = true;
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw HDFace
+    drawHDFace();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+}
+
+// Draw HDFace
+inline void Kinect::drawHDFace()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Draw Face Model Builder Status
+    drawFaceModelBuilderStatus( colorMat, cv::Point( 50, 50 ), 1.0, colors[trackingCount] );
+
+    // Retrieve Vertexes
+    std::vector<CameraSpacePoint> vertexes( vertexCount );
+    ERROR_CHECK( faceModel->CalculateVerticesForAlignment( faceAlignment.Get(), vertexCount, &vertexes[0] ) );
+    drawVertexes( colorMat, vertexes, 2, colors[trackingCount] );
+
+    /*
+    // Retrieve Head Pivot Point
+    CameraSpacePoint point;
+    ERROR_CHECK( faceAlignment->get_HeadPivotPoint( &point ) );
+    std::cout << point.X << ", " << point.Y << ", " << point.Z << std::endl;
+    */
+
+    /*
+    // Retrieve Animation Units ... Motion of Face Parts that Represent Expression (17 AUs)
+    std::array<float, FaceShapeAnimations::FaceShapeAnimations_Count> animationUnits;
+    ERROR_CHECK( faceAlignment->GetAnimationUnits( FaceShapeAnimations::FaceShapeAnimations_Count, &animationUnits[0] ) );
+    for( const float animationUnit : animationUnits ){
+        std::cout << std::to_string( animationUnit ) << std::endl;
+    }
+    */
+
+    /*
+    // Retrieve Shape Units ... Deformations from Default Face Model (94 SUs)
+    ERROR_CHECK( faceModel->GetFaceShapeDeformations( FaceShapeDeformations::FaceShapeDeformations_Count, &shapeUnits[0] ) );
+    for( const float shapeUnit : shapeUnits ){
+        std::cout << std::to_string( shapeUnit ) << std::endl;
+    }
+    */
+
+    /*
+    // Retrieve Face Model Scale
+    float scale;
+    ERROR_CHECK( faceModel->get_Scale( &scale ) );
+    std::cout << std::to_string( scale ) << std::endl;
+    */
+
+    /*
+    // Retrieve Hair Color (XBGR)
+    // Set FaceModelBuilderAttributes::FaceModelBuilderAttributes_HairColor to IHighDefinitionFaceFrameSource::OpenModelBuilder()
+    UINT32 hairColor;
+    ERROR_CHECK( faceModel->get_HairColor( &hairColor ) );
+    std::cout << ( ( hairColor & 0xff000000 ) >> 24 ) << std::endl; // X
+    std::cout << ( ( hairColor & 0x00ff0000 ) >> 16 ) << std::endl; // B
+    std::cout << ( ( hairColor & 0x0000ff00 ) >>  8 ) << std::endl; // G
+    std::cout << ( ( hairColor & 0x000000ff ) >>  0 ) << std::endl; // R
+    */
+
+    /*
+    // Retrieve Skin Color (XBGR)
+    // Set FaceModelBuilderAttributes::FaceModelBuilderAttributes_SkinColor to IHighDefinitionFaceFrameSource::OpenModelBuilder()
+    UINT32 skinColor;
+    ERROR_CHECK( faceModel->get_SkinColor( &skinColor ) );
+    std::cout << ( ( skinColor & 0xff000000 ) >> 24 ) << std::endl; // X
+    std::cout << ( ( skinColor & 0x00ff0000 ) >> 16 ) << std::endl; // B
+    std::cout << ( ( skinColor & 0x0000ff00 ) >>  8 ) << std::endl; // G
+    std::cout << ( ( skinColor & 0x000000ff ) >>  0 ) << std::endl; // R
+    */
+}
+
+// Draw Face Model Builder Status
+inline void Kinect::drawFaceModelBuilderStatus( cv::Mat& image, const cv::Point& point, const double scale, const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Check Produced
+    if( produced ){
+        cv::putText( image, "Collection Complete", cv::Point( point.x, point.y ), cv::FONT_HERSHEY_SIMPLEX, scale, color, thickness, cv::LINE_AA );
+        return;
+    }
+
+    // Retrieve Face Model Builder Collection Status
+    FaceModelBuilderCollectionStatus collection;
+    ERROR_CHECK( faceModelBuilder->get_CollectionStatus( &collection ) );
+
+    // Retrieve Face Model Builder Capture Status
+    FaceModelBuilderCaptureStatus capture;
+    ERROR_CHECK( faceModelBuilder->get_CaptureStatus( &capture ) );
+
+    // Draw Status
+    cv::putText( image, status2string( collection ), cv::Point( point.x, point.y ), cv::FONT_HERSHEY_SIMPLEX, scale, color, thickness, cv::LINE_AA );
+    cv::putText( image, status2string( capture ), cv::Point( point.x, point.y + 30 ), cv::FONT_HERSHEY_SIMPLEX, scale, color, thickness, cv::LINE_AA );
+}
+
+// Convert Collection Status to String
+inline std::string Kinect::status2string( const FaceModelBuilderCollectionStatus collection )
+{
+    std::string status;
+    if( collection & FaceModelBuilderCollectionStatus::FaceModelBuilderCollectionStatus_TiltedUpViewsNeeded ){
+        status = "Collection Status : Needed Tilted Up Views";
+    }
+    else if( collection & FaceModelBuilderCollectionStatus::FaceModelBuilderCollectionStatus_RightViewsNeeded ){
+        status = "Collection Status : Needed Right Views";
+    }
+    else if( collection & FaceModelBuilderCollectionStatus::FaceModelBuilderCollectionStatus_LeftViewsNeeded ){
+        status = "Collection Status : Needed Left Views";
+    }
+    else if( collection & FaceModelBuilderCollectionStatus::FaceModelBuilderCollectionStatus_FrontViewFramesNeeded ){
+        status = "Collection Status : Needed Front View Frames";
+    }
+
+    return status;
+}
+
+// Convert Capture Status to String
+inline std::string Kinect::status2string( const FaceModelBuilderCaptureStatus capture )
+{
+    std::string status;
+    switch( capture ){
+        case FaceModelBuilderCaptureStatus::FaceModelBuilderCaptureStatus_FaceTooFar:
+            status = "Capture Status : Warning Face Too Far from Camera";
+            break;
+        case FaceModelBuilderCaptureStatus::FaceModelBuilderCaptureStatus_FaceTooNear:
+            status = "Capture Status : WWarning Face Too Near to Camera";
+            break;
+        case FaceModelBuilderCaptureStatus::FaceModelBuilderCaptureStatus_MovingTooFast:
+            status = "Capture Status : WWarning Moving Too Fast";
+            break;
+        default:
+            status = "";
+            break;
+    }
+
+    return status;
+}
+
+// Draw Vertexes
+inline void Kinect::drawVertexes( cv::Mat& image, const std::vector<CameraSpacePoint> vertexes, const int radius, const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Draw Vertex Points Converted to Color Coordinate System
+    Concurrency::parallel_for_each( vertexes.begin(), vertexes.end(), [&]( const CameraSpacePoint vertex ){
+        ColorSpacePoint point;
+        ERROR_CHECK( coordinateMapper->MapCameraPointToColorSpace( vertex, &point ) );
+        const int x = static_cast<int>( point.X + 0.5f );
+        const int y = static_cast<int>( point.Y + 0.5f );
+        if( ( 0 <= x ) && ( x < image.cols ) && ( 0 <= y ) && ( y < image.rows ) ){
+            cv::circle( image, cv::Point( x, y ), radius, color, thickness, cv::LINE_AA );
+        }
+    } );
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show HDFace
+    showHDFace();
+}
+
+// Show HDFace
+inline void Kinect::showHDFace()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "HDFace", resizeMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/HDFace/app.h b/codes/Kinect2Sample-master/sample/HDFace/app.h
new file mode 100644
index 0000000..3d8d68a
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/HDFace/app.h
@@ -0,0 +1,122 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <Kinect.Face.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+#include <array>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+#include <array>
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IBodyFrameReader> bodyFrameReader;
+    ComPtr<IHighDefinitionFaceFrameReader> hdFaceFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // HDFace Buffer
+    ComPtr<IFaceModelBuilder> faceModelBuilder;
+    ComPtr<IFaceAlignment> faceAlignment;
+    ComPtr<IFaceModel> faceModel;
+    std::array<float, FaceShapeDeformations::FaceShapeDeformations_Count> faceShapeUnits = { 0.0f };
+    UINT32 vertexCount;
+    UINT64 trackingId;
+    int trackingCount = 0;
+    bool produced = false;
+
+    std::array<cv::Vec3b, BODY_COUNT> colors;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Body
+    inline void initializeBody();
+
+    // Initialize HDFace
+    inline void initializeHDFace();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Body
+    inline void updateBody();
+
+    // Find Closest Body
+    inline void findClosestBody( const std::array<ComPtr<IBody>, BODY_COUNT>& bodies );
+
+    // Update HDFace
+    inline void updateHDFace();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw HDFace
+    inline void drawHDFace();
+
+    // Draw Face Model Builder Status
+    inline void drawFaceModelBuilderStatus( cv::Mat& image, const cv::Point& point, const double scale, const cv::Vec3b& color, const int thickness = 2 );
+
+    // Convert Collection Status to String
+    inline std::string status2string( const FaceModelBuilderCollectionStatus collection );
+
+    // Convert Capture Status to String
+    inline std::string status2string( const FaceModelBuilderCaptureStatus capture );
+
+    // Draw Vertexes
+    inline void Kinect::drawVertexes( cv::Mat& image, const std::vector<CameraSpacePoint> vertexes, const int radius, const cv::Vec3b& color, const int thickness = -1 );
+
+    // Show Data
+    void show();
+
+    // Show HDFace
+    inline void showHDFace();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/HDFace/main.cpp b/codes/Kinect2Sample-master/sample/HDFace/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/HDFace/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/HDFace/util.h b/codes/Kinect2Sample-master/sample/HDFace/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/HDFace/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Infrared/CMakeLists.txt b/codes/Kinect2Sample-master/sample/Infrared/CMakeLists.txt
new file mode 100644
index 0000000..51c45b6
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Infrared/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( Infrared app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "Infrared" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( Infrared ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( Infrared ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Infrared/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/Infrared/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Infrared/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Infrared/app.cpp b/codes/Kinect2Sample-master/sample/Infrared/app.cpp
new file mode 100644
index 0000000..845e4d6
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Infrared/app.cpp
@@ -0,0 +1,161 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Infrared
+    initializeInfrared();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+}
+
+// Initialize Infrared
+inline void Kinect::initializeInfrared()
+{
+    // Open Infrared Reader
+    ComPtr<IInfraredFrameSource> infraredFrameSource;
+    ERROR_CHECK( kinect->get_InfraredFrameSource( &infraredFrameSource ) );
+    ERROR_CHECK( infraredFrameSource->OpenReader( &infraredFrameReader ) );
+
+    // Retrieve Infrared Description
+    ComPtr<IFrameDescription> infraredFrameDescription;
+    ERROR_CHECK( infraredFrameSource->get_FrameDescription( &infraredFrameDescription ) );
+    ERROR_CHECK( infraredFrameDescription->get_Width( &infraredWidth ) ); // 512
+    ERROR_CHECK( infraredFrameDescription->get_Height( &infraredHeight ) ); // 424
+    ERROR_CHECK( infraredFrameDescription->get_BytesPerPixel( &infraredBytesPerPixel ) ); // 2
+
+    // Allocation Depth Buffer
+    infraredBuffer.resize( infraredWidth * infraredHeight );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Infrared
+    updateInfrared();
+}
+
+// Update Infrared
+inline void Kinect::updateInfrared()
+{
+    // Retrieve Infrared Frame
+    ComPtr<IInfraredFrame> infraredFrame;
+    const HRESULT ret = infraredFrameReader->AcquireLatestFrame( &infraredFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Infrared Data
+    ERROR_CHECK( infraredFrame->CopyFrameDataToArray( static_cast<UINT>( infraredBuffer.size() ), &infraredBuffer[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Infrared
+    drawInfrared();
+}
+
+// Draw Infrared
+inline void Kinect::drawInfrared()
+{
+    // Create cv::Mat from Infrared Buffer
+    infraredMat = cv::Mat( infraredHeight, infraredWidth, CV_16UC1, &infraredBuffer[0] );
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Infrared
+    showInfrared();
+}
+
+// Show Infrared
+inline void Kinect::showInfrared()
+{
+    if( infraredMat.empty() ){
+        return;
+    }
+
+    // Scaling ( 0b1111'1111'0000'0000 -> 0b1111'1111 )
+    cv::Mat scaleMat( infraredHeight, infraredWidth, CV_8UC1 );
+    scaleMat.forEach<uchar>([&]( uchar &p, const int* position ){
+        p = infraredMat.at<ushort>( position[0], position[1] ) >> 8;
+    });
+
+    // Show Image
+    cv::imshow( "Infrared", scaleMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Infrared/app.h b/codes/Kinect2Sample-master/sample/Infrared/app.h
new file mode 100644
index 0000000..262c94d
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Infrared/app.h
@@ -0,0 +1,71 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Reader
+    ComPtr<IInfraredFrameReader> infraredFrameReader;
+
+    // Infrared Buffer
+    std::vector<UINT16> infraredBuffer;
+    int infraredWidth;
+    int infraredHeight;
+    unsigned int infraredBytesPerPixel;
+    cv::Mat infraredMat;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Infrared
+    inline void initializeInfrared();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Infrared
+    inline void updateInfrared();
+
+    // Draw Data
+    void draw();
+
+    // Draw Infrared
+    inline void drawInfrared();
+
+    // Show Data
+    void show();
+
+    // Show Infrared
+    inline void showInfrared();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Infrared/main.cpp b/codes/Kinect2Sample-master/sample/Infrared/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Infrared/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Infrared/util.h b/codes/Kinect2Sample-master/sample/Infrared/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Infrared/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Inpaint/CMakeLists.txt b/codes/Kinect2Sample-master/sample/Inpaint/CMakeLists.txt
new file mode 100644
index 0000000..61336af
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Inpaint/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( Inpaint app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "Inpaint" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( Inpaint ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( Inpaint ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Inpaint/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/Inpaint/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Inpaint/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Inpaint/app.cpp b/codes/Kinect2Sample-master/sample/Inpaint/app.cpp
new file mode 100644
index 0000000..49d8ec6
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Inpaint/app.cpp
@@ -0,0 +1,377 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+#include <ppl.h>
+
+// Choose Resolution
+//#define COLOR
+#define DEPTH
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Inpaint Depth
+        inpaintDepth();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Depth
+    initializeDepth();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Depth
+inline void Kinect::initializeDepth()
+{
+    // Open Depth Reader
+    ComPtr<IDepthFrameSource> depthFrameSource;
+    ERROR_CHECK( kinect->get_DepthFrameSource( &depthFrameSource ) );
+    ERROR_CHECK( depthFrameSource->OpenReader( &depthFrameReader ) );
+
+    // Retrieve Depth Description
+    ComPtr<IFrameDescription> depthFrameDescription;
+    ERROR_CHECK( depthFrameSource->get_FrameDescription( &depthFrameDescription ) );
+    ERROR_CHECK( depthFrameDescription->get_Width( &depthWidth ) ); // 512
+    ERROR_CHECK( depthFrameDescription->get_Height( &depthHeight ) ); // 424
+    ERROR_CHECK( depthFrameDescription->get_BytesPerPixel( &depthBytesPerPixel ) ); // 2
+
+    // Allocation Depth Buffer
+    depthBuffer.resize( depthWidth * depthHeight );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Depth
+    updateDepth();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Depth
+inline void Kinect::updateDepth()
+{
+    // Retrieve Depth Frame
+    ComPtr<IDepthFrame> depthFrame;
+    const HRESULT ret = depthFrameReader->AcquireLatestFrame( &depthFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Depth Data
+    ERROR_CHECK( depthFrame->CopyFrameDataToArray( static_cast<UINT>( depthBuffer.size() ), &depthBuffer[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw Depth
+    drawDepth();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+#ifdef DEPTH
+    // Retrieve Mapped Coordinates
+    std::vector<ColorSpacePoint> colorSpacePoints( depthWidth * depthHeight );
+    ERROR_CHECK( coordinateMapper->MapDepthFrameToColorSpace( depthBuffer.size(), &depthBuffer[0], colorSpacePoints.size(), &colorSpacePoints[0] ) );
+
+    // Mapping Color to Depth Resolution
+    std::vector<BYTE> buffer( depthWidth * depthHeight * colorBytesPerPixel );
+
+    Concurrency::parallel_for( 0, depthHeight, [&]( const int depthY ){
+        const unsigned int depthOffset = depthY * depthWidth;
+        for( int depthX = 0; depthX < depthWidth; depthX++ ){
+            unsigned int depthIndex = depthOffset + depthX;
+            const int colorX = static_cast<int>( colorSpacePoints[depthIndex].X + 0.5f );
+            const int colorY = static_cast<int>( colorSpacePoints[depthIndex].Y + 0.5f );
+            if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){
+                const unsigned int colorIndex = ( colorY * colorWidth + colorX ) * colorBytesPerPixel;
+                depthIndex = depthIndex * colorBytesPerPixel;
+                buffer[depthIndex + 0] = colorBuffer[colorIndex + 0];
+                buffer[depthIndex + 1] = colorBuffer[colorIndex + 1];
+                buffer[depthIndex + 2] = colorBuffer[colorIndex + 2];
+                buffer[depthIndex + 3] = colorBuffer[colorIndex + 3];
+            }
+        }
+    } );
+
+    // Create cv::Mat from Coordinate Buffer
+    colorMat = cv::Mat( depthHeight, depthWidth, CV_8UC4, &buffer[0] ).clone();
+#else
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0]);
+#endif
+
+}
+
+// Draw Depth
+inline void Kinect::drawDepth()
+{
+#ifdef COLOR
+    // Retrieve Mapped Coordinates
+    std::vector<DepthSpacePoint> depthSpacePoints( colorWidth * colorHeight );
+    ERROR_CHECK( coordinateMapper->MapColorFrameToDepthSpace( depthBuffer.size(), &depthBuffer[0], depthSpacePoints.size(), &depthSpacePoints[0] ) );
+
+    // Mapping Depth to Color Resolution
+    std::vector<UINT16> buffer( colorWidth * colorHeight );
+
+    Concurrency::parallel_for( 0, colorHeight, [&]( const int colorY ){
+        const unsigned int colorOffset = colorY * colorWidth;
+        for( int colorX = 0; colorX < colorWidth; colorX++ ){
+            const unsigned int colorIndex = colorOffset + colorX;
+            const int depthX = static_cast<int>( depthSpacePoints[colorIndex].X + 0.5f );
+            const int depthY = static_cast<int>( depthSpacePoints[colorIndex].Y + 0.5f );
+            if( ( 0 <= depthX ) && ( depthX < depthWidth ) && ( 0 <= depthY ) && ( depthY < depthHeight ) ){
+                const unsigned int depthIndex = depthY * depthWidth + depthX;
+                buffer[colorIndex] = depthBuffer[depthIndex];
+            }
+        }
+    } );
+
+    // Create cv::Mat from Coordinate Buffer
+    depthMat = cv::Mat( colorHeight, colorWidth, CV_16UC1, &buffer[0] ).clone();
+#else
+    // Create cv::Mat from Depth Buffer
+    depthMat = cv::Mat( depthHeight, depthWidth, CV_16UC1, &depthBuffer[0]);
+#endif
+}
+
+// Inpaint Depth
+void Kinect::inpaintDepth()
+{
+    if( depthMat.empty() ){
+        return;
+    }
+
+    // Create Inpaint Mask ( This mask is area where depth couldn't be retrieved becauses shadow, noise, or outside of range. )
+    cv::Mat maskMat;
+    cv::threshold( depthMat, maskMat, 500, std::numeric_limits<unsigned short>::max(), cv::THRESH_BINARY_INV );
+    maskMat.convertTo( maskMat, CV_8U, 255.0 / std::numeric_limits<unsigned short>::max() );
+
+#ifdef COLOR
+    // Scale Down
+    const double scale = 0.3;
+    cv::Mat resizeDepthMat;
+    cv::Mat resizeMaskMat;
+    cv::resize( depthMat, resizeDepthMat, cv::Size(), scale, scale );
+    cv::resize( maskMat, resizeMaskMat, cv::Size(), scale, scale );
+
+    // Inpaint Depth
+    const double radius = 5.0;
+    cv::inpaint( resizeDepthMat, resizeMaskMat, inpaintMat, radius, cv::INPAINT_NS );
+
+    // Scale Up
+    cv::resize( inpaintMat, inpaintMat, depthMat.size() );
+
+    // Add Copy
+    cv::Mat tmpMat = depthMat.clone();
+    inpaintMat.copyTo( tmpMat, maskMat );
+    inpaintMat = tmpMat.clone();
+#else
+    // Inpaint Depth
+    const double radius = 5.0;
+    cv::inpaint( depthMat, maskMat, inpaintMat, radius, cv::INPAINT_NS );
+#endif
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Color
+    showColor();
+
+    // Show Depth
+    showDepth();
+
+    // Show Inpaint
+    showInpaint();
+}
+
+// Show Color
+inline void Kinect::showColor()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+#ifdef COLOR
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Color", resizeMat );
+#else
+    // Show Image
+    cv::imshow( "Color", colorMat );
+#endif
+}
+
+// Show Depth
+inline void Kinect::showDepth()
+{
+    if( depthMat.empty() ){
+        return;
+    }
+
+    // Scaling ( 0-8000 -> 255-0 )
+    cv::Mat scaleMat;
+    depthMat.convertTo( scaleMat, CV_8U, -255.0 / 8000.0, 255.0 );
+    //cv::applyColorMap( scaleMat, scaleMat, cv::COLORMAP_BONE );
+
+#ifdef COLOR
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( scaleMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Depth", resizeMat );
+#else
+    // Show Image
+    cv::imshow( "Depth", scaleMat );
+#endif
+}
+
+// Show Inpaint
+inline void Kinect::showInpaint()
+{
+    if( inpaintMat.empty() ){
+        return;
+    }
+
+    // Scaling ( 0-8000 -> 255-0 )
+    cv::Mat scaleMat;
+    inpaintMat.convertTo( scaleMat, CV_8U, -255.0 / 8000.0, 255.0 );
+    //cv::applyColorMap( scaleMat, scaleMat, cv::COLORMAP_BONE );
+
+#ifdef COLOR
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( scaleMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Inpaint", resizeMat );
+#else
+    // Show Image
+    cv::imshow( "Inpaint", scaleMat );
+#endif
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Inpaint/app.h b/codes/Kinect2Sample-master/sample/Inpaint/app.h
new file mode 100644
index 0000000..8cc58e2
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Inpaint/app.h
@@ -0,0 +1,103 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IDepthFrameReader> depthFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Depth Buffer
+    std::vector<UINT16> depthBuffer;
+    int depthWidth;
+    int depthHeight;
+    unsigned int depthBytesPerPixel;
+    cv::Mat depthMat;
+
+    // Inpaint Buffer
+    cv::Mat inpaintMat;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Depth
+    inline void initializeDepth();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Depth
+    inline void updateDepth();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw Depth
+    inline void drawDepth();
+
+    // Inpaint Depth
+    void inpaintDepth();
+
+    // Show Data
+    void show();
+
+    // Show Color
+    inline void showColor();
+
+    // Show Depth
+    inline void showDepth();
+
+    // Show Inpaint
+    inline void showInpaint();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Inpaint/main.cpp b/codes/Kinect2Sample-master/sample/Inpaint/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Inpaint/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Inpaint/util.h b/codes/Kinect2Sample-master/sample/Inpaint/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Inpaint/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/JointSmooth/CMakeLists.txt b/codes/Kinect2Sample-master/sample/JointSmooth/CMakeLists.txt
new file mode 100644
index 0000000..d3b1916
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/JointSmooth/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( JointSmooth app.h app.cpp main.cpp util.h KinectJointFilter.h KinectJointFilter.cpp )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "JointSmooth" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( JointSmooth ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( JointSmooth ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/JointSmooth/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/JointSmooth/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/JointSmooth/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/JointSmooth/KinectJointFilter.cpp b/codes/Kinect2Sample-master/sample/JointSmooth/KinectJointFilter.cpp
new file mode 100644
index 0000000..5b081f7
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/JointSmooth/KinectJointFilter.cpp
@@ -0,0 +1,189 @@
+//--------------------------------------------------------------------------------------
+// KinectJointFilter.cpp
+//
+// This file contains Holt Double Exponential Smoothing filter for filtering Joints
+//
+// Copyright (C) Microsoft Corporation. All rights reserved.
+//--------------------------------------------------------------------------------------
+
+//#include "stdafx.h"
+#include "KinectJointFilter.h"
+
+using namespace Sample;
+using namespace DirectX;
+
+//-------------------------------------------------------------------------------------
+// Name: Lerp()
+// Desc: Linear interpolation between two floats
+//-------------------------------------------------------------------------------------
+inline FLOAT Lerp( FLOAT f1, FLOAT f2, FLOAT fBlend )
+{
+	return f1 + ( f2 - f1 ) * fBlend;
+}
+
+//--------------------------------------------------------------------------------------
+// if joint is 0 it is not valid.
+//--------------------------------------------------------------------------------------
+inline BOOL JointPositionIsValid( XMVECTOR vJointPosition )
+{
+	return ( XMVectorGetX( vJointPosition ) != 0.0f ||
+		XMVectorGetY( vJointPosition ) != 0.0f ||
+		XMVectorGetZ( vJointPosition ) != 0.0f );
+}
+
+//--------------------------------------------------------------------------------------
+// Implementation of a Holt Double Exponential Smoothing filter. The double exponential
+// smooths the curve and predicts.  There is also noise jitter removal. And maximum
+// prediction bounds.  The paramaters are commented in the init function.
+//--------------------------------------------------------------------------------------
+void FilterDoubleExponential::Update( IBody* const pBody )
+{
+	assert( pBody );
+
+	// Check for divide by zero. Use an epsilon of a 10th of a millimeter
+	m_fJitterRadius = XMMax( 0.0001f, m_fJitterRadius );
+
+	TRANSFORM_SMOOTH_PARAMETERS SmoothingParams;
+
+	UINT jointCapacity = 0;
+	Joint joints[JointType_Count];
+
+	pBody->GetJoints( jointCapacity, joints );
+	for( INT i = 0; i < JointType_Count; i++ )
+	{
+		SmoothingParams.fSmoothing = m_fSmoothing;
+		SmoothingParams.fCorrection = m_fCorrection;
+		SmoothingParams.fPrediction = m_fPrediction;
+		SmoothingParams.fJitterRadius = m_fJitterRadius;
+		SmoothingParams.fMaxDeviationRadius = m_fMaxDeviationRadius;
+
+		// If inferred, we smooth a bit more by using a bigger jitter radius
+		Joint joint = joints[i];
+		if( joint.TrackingState == TrackingState::TrackingState_Inferred )
+		{
+			SmoothingParams.fJitterRadius *= 2.0f;
+			SmoothingParams.fMaxDeviationRadius *= 2.0f;
+		}
+
+		Update( joints, i, SmoothingParams );
+	}
+}
+
+void FilterDoubleExponential::Update( Joint joints[] )
+{
+	// Check for divide by zero. Use an epsilon of a 10th of a millimeter
+	m_fJitterRadius = XMMax( 0.0001f, m_fJitterRadius );
+
+	TRANSFORM_SMOOTH_PARAMETERS SmoothingParams;
+	for( INT i = 0; i < JointType_Count; i++ )
+	{
+		SmoothingParams.fSmoothing = m_fSmoothing;
+		SmoothingParams.fCorrection = m_fCorrection;
+		SmoothingParams.fPrediction = m_fPrediction;
+		SmoothingParams.fJitterRadius = m_fJitterRadius;
+		SmoothingParams.fMaxDeviationRadius = m_fMaxDeviationRadius;
+
+		// If inferred, we smooth a bit more by using a bigger jitter radius
+		Joint joint = joints[i];
+		if( joint.TrackingState == TrackingState::TrackingState_Inferred )
+		{
+			SmoothingParams.fJitterRadius *= 2.0f;
+			SmoothingParams.fMaxDeviationRadius *= 2.0f;
+		}
+
+		Update( joints, i, SmoothingParams );
+	}
+
+}
+
+void FilterDoubleExponential::Update( Joint joints[], UINT JointID, TRANSFORM_SMOOTH_PARAMETERS smoothingParams )
+{
+	XMVECTOR vPrevRawPosition;
+	XMVECTOR vPrevFilteredPosition;
+	XMVECTOR vPrevTrend;
+	XMVECTOR vRawPosition;
+	XMVECTOR vFilteredPosition;
+	XMVECTOR vPredictedPosition;
+	XMVECTOR vDiff;
+	XMVECTOR vTrend;
+	XMVECTOR vLength;
+	FLOAT fDiff;
+	BOOL bJointIsValid;
+
+	const Joint joint = joints[JointID];
+
+	vRawPosition = XMVectorSet( joint.Position.X, joint.Position.Y, joint.Position.Z, 0.0f );
+	vPrevFilteredPosition = m_pHistory[JointID].m_vFilteredPosition;
+	vPrevTrend = m_pHistory[JointID].m_vTrend;
+	vPrevRawPosition = m_pHistory[JointID].m_vRawPosition;
+	bJointIsValid = JointPositionIsValid( vRawPosition );
+
+	// If joint is invalid, reset the filter
+	if( !bJointIsValid )
+	{
+		m_pHistory[JointID].m_dwFrameCount = 0;
+	}
+
+	// Initial start values
+	if( m_pHistory[JointID].m_dwFrameCount == 0 )
+	{
+		vFilteredPosition = vRawPosition;
+		vTrend = XMVectorZero();
+		m_pHistory[JointID].m_dwFrameCount++;
+	}
+	else if( m_pHistory[JointID].m_dwFrameCount == 1 )
+	{
+		vFilteredPosition = XMVectorScale( XMVectorAdd( vRawPosition, vPrevRawPosition ), 0.5f );
+		vDiff = XMVectorSubtract( vFilteredPosition, vPrevFilteredPosition );
+		vTrend = XMVectorAdd( XMVectorScale( vDiff, smoothingParams.fCorrection ), XMVectorScale( vPrevTrend, 1.0f - smoothingParams.fCorrection ) );
+		m_pHistory[JointID].m_dwFrameCount++;
+	}
+	else
+	{
+		// First apply jitter filter
+		vDiff = XMVectorSubtract( vRawPosition, vPrevFilteredPosition );
+		vLength = XMVector3Length( vDiff );
+		fDiff = fabs( XMVectorGetX( vLength ) );
+
+		if( fDiff <= smoothingParams.fJitterRadius )
+		{
+			vFilteredPosition = XMVectorAdd( XMVectorScale( vRawPosition, fDiff / smoothingParams.fJitterRadius ),
+				XMVectorScale( vPrevFilteredPosition, 1.0f - fDiff / smoothingParams.fJitterRadius ) );
+		}
+		else
+		{
+			vFilteredPosition = vRawPosition;
+		}
+
+		// Now the double exponential smoothing filter
+		vFilteredPosition = XMVectorAdd( XMVectorScale( vFilteredPosition, 1.0f - smoothingParams.fSmoothing ),
+			XMVectorScale( XMVectorAdd( vPrevFilteredPosition, vPrevTrend ), smoothingParams.fSmoothing ) );
+
+
+		vDiff = XMVectorSubtract( vFilteredPosition, vPrevFilteredPosition );
+		vTrend = XMVectorAdd( XMVectorScale( vDiff, smoothingParams.fCorrection ), XMVectorScale( vPrevTrend, 1.0f - smoothingParams.fCorrection ) );
+	}
+
+	// Predict into the future to reduce latency
+	vPredictedPosition = XMVectorAdd( vFilteredPosition, XMVectorScale( vTrend, smoothingParams.fPrediction ) );
+
+	// Check that we are not too far away from raw data
+	vDiff = XMVectorSubtract( vPredictedPosition, vRawPosition );
+	vLength = XMVector3Length( vDiff );
+	fDiff = fabs( XMVectorGetX( vLength ) );
+
+	if( fDiff > smoothingParams.fMaxDeviationRadius )
+	{
+		vPredictedPosition = XMVectorAdd( XMVectorScale( vPredictedPosition, smoothingParams.fMaxDeviationRadius / fDiff ),
+			XMVectorScale( vRawPosition, 1.0f - smoothingParams.fMaxDeviationRadius / fDiff ) );
+	}
+
+	// Save the data from this frame
+	m_pHistory[JointID].m_vRawPosition = vRawPosition;
+	m_pHistory[JointID].m_vFilteredPosition = vFilteredPosition;
+	m_pHistory[JointID].m_vTrend = vTrend;
+
+	// Output the data
+	m_pFilteredJoints[JointID] = vPredictedPosition;
+	m_pFilteredJoints[JointID] = XMVectorSetW( m_pFilteredJoints[JointID], 1.0f );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/JointSmooth/KinectJointFilter.h b/codes/Kinect2Sample-master/sample/JointSmooth/KinectJointFilter.h
new file mode 100644
index 0000000..a8f4c5c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/JointSmooth/KinectJointFilter.h
@@ -0,0 +1,83 @@
+//--------------------------------------------------------------------------------------
+// KinectJointFilter.h
+//
+// This file contains Holt Double Exponential Smoothing filter for filtering Joints
+//
+// Copyright (C) Microsoft Corporation. All rights reserved.
+//--------------------------------------------------------------------------------------
+
+#pragma once
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <DirectXMath.h>
+#include <queue>
+
+namespace Sample
+{
+	typedef struct _TRANSFORM_SMOOTH_PARAMETERS
+	{
+		FLOAT   fSmoothing;             // [0..1], lower values closer to raw data
+		FLOAT   fCorrection;            // [0..1], lower values slower to correct towards the raw data
+		FLOAT   fPrediction;            // [0..n], the number of frames to predict into the future
+		FLOAT   fJitterRadius;          // The radius in meters for jitter reduction
+		FLOAT   fMaxDeviationRadius;    // The maximum radius in meters that filtered positions are allowed to deviate from raw data
+	} TRANSFORM_SMOOTH_PARAMETERS;
+
+	// Holt Double Exponential Smoothing filter
+	class FilterDoubleExponentialData
+	{
+		public:
+		DirectX::XMVECTOR m_vRawPosition;
+		DirectX::XMVECTOR m_vFilteredPosition;
+		DirectX::XMVECTOR m_vTrend;
+		DWORD    m_dwFrameCount;
+	};
+
+	class FilterDoubleExponential
+	{
+		public:
+		FilterDoubleExponential() { Init(); }
+		~FilterDoubleExponential() { Shutdown(); }
+
+		void Init( FLOAT fSmoothing = 0.25f, FLOAT fCorrection = 0.25f, FLOAT fPrediction = 0.25f, FLOAT fJitterRadius = 0.03f, FLOAT fMaxDeviationRadius = 0.05f )
+		{
+			Reset( fSmoothing, fCorrection, fPrediction, fJitterRadius, fMaxDeviationRadius );
+		}
+
+		void Shutdown()
+		{
+		}
+
+		void Reset( FLOAT fSmoothing = 0.25f, FLOAT fCorrection = 0.25f, FLOAT fPrediction = 0.25f, FLOAT fJitterRadius = 0.03f, FLOAT fMaxDeviationRadius = 0.05f )
+		{
+			assert( m_pFilteredJoints );
+			assert( m_pHistory );
+
+			m_fMaxDeviationRadius = fMaxDeviationRadius; // Size of the max prediction radius Can snap back to noisy data when too high
+			m_fSmoothing = fSmoothing;                   // How much smothing will occur.  Will lag when too high
+			m_fCorrection = fCorrection;                 // How much to correct back from prediction.  Can make things springy
+			m_fPrediction = fPrediction;                 // Amount of prediction into the future to use. Can over shoot when too high
+			m_fJitterRadius = fJitterRadius;             // Size of the radius where jitter is removed. Can do too much smoothing when too high
+
+			memset( m_pFilteredJoints, 0, sizeof( DirectX::XMVECTOR ) * JointType_Count );
+			memset( m_pHistory, 0, sizeof( FilterDoubleExponentialData ) * JointType_Count );
+		}
+
+		void Update( IBody* const pBody );
+		void Update( Joint joints[] );
+
+		inline const DirectX::XMVECTOR* GetFilteredJoints() const { return &m_pFilteredJoints[0]; }
+
+		private:
+		DirectX::XMVECTOR m_pFilteredJoints[JointType_Count];
+		FilterDoubleExponentialData m_pHistory[JointType_Count];
+		FLOAT m_fSmoothing;
+		FLOAT m_fCorrection;
+		FLOAT m_fPrediction;
+		FLOAT m_fJitterRadius;
+		FLOAT m_fMaxDeviationRadius;
+
+		void Update( Joint joints[], UINT JointID, TRANSFORM_SMOOTH_PARAMETERS smoothingParams );
+	};
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/JointSmooth/app.cpp b/codes/Kinect2Sample-master/sample/JointSmooth/app.cpp
new file mode 100644
index 0000000..503647d
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/JointSmooth/app.cpp
@@ -0,0 +1,371 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+#include <ppl.h>
+
+// Joint Smoothing
+#define SMOOTH
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Body
+    initializeBody();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Body
+inline void Kinect::initializeBody()
+{
+    // Open Body Reader
+    ComPtr<IBodyFrameSource> bodyFrameSource;
+    ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
+    ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );
+
+    // Initialize Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+#ifdef SMOOTH
+    // Set Smoothing Fileter Parameters
+    Sample::TRANSFORM_SMOOTH_PARAMETERS smoothingParams;
+    smoothingParams.fSmoothing          = 0.25f; // [0..1], lower values closer to raw data
+    smoothingParams.fCorrection         = 0.25f; // [0..1], lower values slower to correct towards the raw data
+    smoothingParams.fPrediction         = 0.25f; // [0..n], the number of frames to predict into the future
+    smoothingParams.fJitterRadius       = 0.03f; // The radius in meters for jitter reduction
+    smoothingParams.fMaxDeviationRadius = 0.05f; // The maximum radius in meters that filtered positions are allowed to deviate from raw data
+
+    // Create Holt Double Exponential Smoothing Filter
+    for( Sample::FilterDoubleExponential filter : filters ){
+        filter.Init( smoothingParams.fSmoothing, smoothingParams.fCorrection, smoothingParams.fPrediction, smoothingParams.fJitterRadius, smoothingParams.fMaxDeviationRadius );
+    }
+#endif
+
+    // Color Table for Visualization
+    colors[0] = cv::Vec3b( 255,   0,   0 ); // Blue
+    colors[1] = cv::Vec3b(   0, 255,   0 ); // Green
+    colors[2] = cv::Vec3b(   0,   0, 255 ); // Red
+    colors[3] = cv::Vec3b( 255, 255,   0 ); // Cyan
+    colors[4] = cv::Vec3b( 255,   0, 255 ); // Magenta
+    colors[5] = cv::Vec3b(   0, 255, 255 ); // Yellow
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Release Body Buffer
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Body
+    updateBody();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Body
+inline void Kinect::updateBody()
+{
+    // Retrieve Body Frame
+    ComPtr<IBodyFrame> bodyFrame;
+    const HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Release Previous Bodies
+    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
+        SafeRelease( body );
+    } );
+
+    // Retrieve Body Data
+    ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( BODY_COUNT, &bodies[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw Body
+    drawBody();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+}
+
+// Draw Body
+inline void Kinect::drawBody()
+{
+    // Draw Body Data to Color Data
+    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
+        const ComPtr<IBody> body = bodies[count];
+        if( body == nullptr ){
+            return;
+        }
+
+        // Check Body Tracked
+        BOOLEAN tracked = FALSE;
+        ERROR_CHECK( body->get_IsTracked( &tracked ) );
+        if( !tracked ){
+            return;
+        }
+
+        // Retrieve Joints
+        std::array<Joint, JointType::JointType_Count> joints;
+        ERROR_CHECK( body->GetJoints( JointType::JointType_Count, &joints[0] ) );
+
+#ifdef SMOOTH
+        // Update Joints
+        Sample::FilterDoubleExponential filter = filters[count];
+        filter.Update( &joints[0] );
+
+        // Retrive Filtered Joints
+        const DirectX::XMVECTOR* filteredJoints = filter.GetFilteredJoints();
+#endif
+
+        Concurrency::parallel_for( 0, static_cast<int>( JointType::JointType_Count ), [&]( const int type ){
+            // Check Joint Tracked
+            Joint joint = joints[type];
+            if( joint.TrackingState == TrackingState::TrackingState_NotTracked ){
+                return;
+            }
+
+#ifdef SMOOTH
+            // Retrive Filtered Joint
+            const DirectX::XMVECTOR filteredJoint = filteredJoints[type];
+            DirectX::XMVectorGetXPtr( &joint.Position.X, filteredJoint );
+            DirectX::XMVectorGetYPtr( &joint.Position.Y, filteredJoint );
+            DirectX::XMVectorGetZPtr( &joint.Position.Z, filteredJoint );
+#endif
+
+            // Draw Joint Position
+            drawEllipse( colorMat, joint, 5, colors[count] );
+
+            // Draw Left Hand State
+            if( joint.JointType == JointType::JointType_HandLeft ){
+                HandState handState;
+                TrackingConfidence handConfidence;
+                ERROR_CHECK( body->get_HandLeftState( &handState ) );
+                ERROR_CHECK( body->get_HandLeftConfidence( &handConfidence ) );
+
+                drawHandState( colorMat, joint, handState, handConfidence );
+            }
+
+            // Draw Right Hand State
+            if( joint.JointType == JointType::JointType_HandRight ){
+                HandState handState;
+                TrackingConfidence handConfidence;
+                ERROR_CHECK( body->get_HandRightState( &handState ) );
+                ERROR_CHECK( body->get_HandRightConfidence( &handConfidence ) );
+
+                drawHandState( colorMat, joint, handState, handConfidence );
+            }
+        } );
+
+        /*
+        // Retrieve Joint Orientations
+        std::array<JointOrientation, JointType::JointType_Count> orientations;
+        ERROR_CHECK( body->GetJointOrientations( JointType::JointType_Count, &orientations[0] ) );
+        */
+
+        /*
+        // Retrieve Amount of Body Lean
+        PointF amount;
+        ERROR_CHECK( body->get_Lean( &amount ) );
+        */
+    } );
+}
+
+// Draw Ellipse
+inline void Kinect::drawEllipse( cv::Mat& image, const Joint& joint, const int radius, const cv::Vec3b& color, const int thickness )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Convert Coordinate System and Draw Joint
+    ColorSpacePoint colorSpacePoint;
+    ERROR_CHECK( coordinateMapper->MapCameraPointToColorSpace( joint.Position, &colorSpacePoint ) );
+    const int x = static_cast<int>( colorSpacePoint.X + 0.5f );
+    const int y = static_cast<int>( colorSpacePoint.Y + 0.5f );
+    if( ( 0 <= x ) && ( x < image.cols ) && ( 0 <= y ) && ( y < image.rows ) ){
+        cv::circle( image, cv::Point( x, y ), radius, static_cast<cv::Scalar>( color ), thickness, cv::LINE_AA );
+    }
+}
+
+// Draw Hand State
+inline void Kinect::drawHandState( cv::Mat& image, const Joint& joint, HandState handState, TrackingConfidence handConfidence )
+{
+    if( image.empty() ){
+        return;
+    }
+
+    // Check Tracking Confidence
+    if( handConfidence != TrackingConfidence::TrackingConfidence_High ){
+        return;
+    }
+
+    // Draw Hand State 
+    const int radius = 75;
+    const cv::Vec3b blue = cv::Vec3b( 128, 0, 0 ), green = cv::Vec3b( 0, 128, 0 ), red = cv::Vec3b( 0, 0, 128 );
+    switch( handState ){
+        // Open
+        case HandState::HandState_Open:
+            drawEllipse( image, joint, radius, green, 5 );
+            break;
+        // Close
+        case HandState::HandState_Closed:
+            drawEllipse( image, joint, radius, red, 5 );
+            break;
+        // Lasso
+        case HandState::HandState_Lasso:
+            drawEllipse( image, joint, radius, blue, 5 );
+            break;
+        default:
+            break;
+    }
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Body
+    showBody();
+}
+
+// Show Body
+inline void Kinect::showBody()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "JointSmooth", resizeMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/JointSmooth/app.h b/codes/Kinect2Sample-master/sample/JointSmooth/app.h
new file mode 100644
index 0000000..fee9d34
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/JointSmooth/app.h
@@ -0,0 +1,105 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+// Quote from MSDN Forums - Joint Smoothing code, and Partial Modification
+// KinectJointFilter is: Copyright (c) Microsoft Corporation. All rights reserved.
+// https://social.msdn.microsoft.com/Forums/en-US/045b058a-ae3a-4d01-beb6-b756631b4b42
+#include "KinectJointFilter.h"
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+#include <array>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IBodyFrameReader> bodyFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Body Buffer
+    std::array<IBody*, BODY_COUNT> bodies = { nullptr };
+    std::array<cv::Vec3b, BODY_COUNT> colors;
+
+    // Smoothing Filter
+    std::array<Sample::FilterDoubleExponential, BODY_COUNT> filters;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Body
+    inline void initializeBody();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Body
+    inline void updateBody();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw Body
+    inline void drawBody();
+
+    // Draw Smooth
+    inline void drawSmooth();
+
+    // Draw Circle
+    inline void drawEllipse( cv::Mat& image, const Joint& joint, const int radius, const cv::Vec3b& color, const int thickness = -1 );
+
+    // Draw Hand State
+    inline void drawHandState( cv::Mat& image, const Joint& joint, HandState handState, TrackingConfidence handConfidence );
+
+    // Show Data
+    void show();
+
+    // Show Body
+    inline void showBody();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/JointSmooth/main.cpp b/codes/Kinect2Sample-master/sample/JointSmooth/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/JointSmooth/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/JointSmooth/util.h b/codes/Kinect2Sample-master/sample/JointSmooth/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/JointSmooth/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/MultiSource/CMakeLists.txt b/codes/Kinect2Sample-master/sample/MultiSource/CMakeLists.txt
new file mode 100644
index 0000000..d064bb0
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/MultiSource/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( MultiSource app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "MultiSource" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( MultiSource ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( MultiSource ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/MultiSource/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/MultiSource/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/MultiSource/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/MultiSource/app.cpp b/codes/Kinect2Sample-master/sample/MultiSource/app.cpp
new file mode 100644
index 0000000..e2945a9
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/MultiSource/app.cpp
@@ -0,0 +1,268 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        const int key = cv::waitKey( 10 );
+        if( key == VK_ESCAPE ){
+            break;
+        }
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Multi Source
+    initializeMultiSource();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Depth
+    initializeDepth();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+}
+
+// Initialize Multi Source
+inline void Kinect::initializeMultiSource()
+{
+    // Open Multi Source Reader
+    DWORD types = FrameSourceTypes::FrameSourceTypes_Color
+                | FrameSourceTypes::FrameSourceTypes_Depth;
+
+    ERROR_CHECK( kinect->OpenMultiSourceFrameReader( types, &multiSourceFrameReader ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Depth
+inline void Kinect::initializeDepth()
+{
+    // Open Depth Reader
+    ComPtr<IDepthFrameSource> depthFrameSource;
+    ERROR_CHECK( kinect->get_DepthFrameSource( &depthFrameSource ) );
+
+    // Retrieve Depth Description
+    ComPtr<IFrameDescription> depthFrameDescription;
+    ERROR_CHECK( depthFrameSource->get_FrameDescription( &depthFrameDescription ) );
+    ERROR_CHECK( depthFrameDescription->get_Width( &depthWidth ) ); // 512
+    ERROR_CHECK( depthFrameDescription->get_Height( &depthHeight ) ); // 424
+    ERROR_CHECK( depthFrameDescription->get_BytesPerPixel( &depthBytesPerPixel ) ); // 2
+
+    // Allocation Depth Buffer
+    depthBuffer.resize( depthWidth * depthHeight );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::destroyAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Retrieve Multi Source Frame
+    ComPtr<IMultiSourceFrame> multiSourceFrame;
+    const HRESULT ret = multiSourceFrameReader->AcquireLatestFrame( &multiSourceFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Update Color
+    updateColor( multiSourceFrame );
+
+    // Update Depth
+    updateDepth( multiSourceFrame );
+}
+
+// Update Color
+inline void Kinect::updateColor( const ComPtr<IMultiSourceFrame>& multiSourceFrame )
+{
+    if( multiSourceFrame == nullptr ){
+        return;
+    }
+
+    // Retrieve Color Frame Reference
+    ComPtr<IColorFrameReference> colorFrameReference;
+    HRESULT ret = multiSourceFrame->get_ColorFrameReference( &colorFrameReference );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    ret = colorFrameReference->AcquireFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Depth
+inline void Kinect::updateDepth( const ComPtr<IMultiSourceFrame>& multiSourceFrame )
+{
+    if( multiSourceFrame == nullptr ){
+        return;
+    }
+
+    // Retrieve Depth Frame Reference
+    ComPtr<IDepthFrameReference> depthFrameReference;
+    HRESULT ret = multiSourceFrame->get_DepthFrameReference( &depthFrameReference );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Depth Frame
+    ComPtr<IDepthFrame> depthFrame;
+    ret = depthFrameReference->AcquireFrame( &depthFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Depth Data
+    ERROR_CHECK( depthFrame->CopyFrameDataToArray( static_cast<UINT>( depthBuffer.size() ), &depthBuffer[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw Depth
+    drawDepth();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+    // Create cv::Mat from Color Buffer
+    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
+}
+
+// Draw Depth
+inline void Kinect::drawDepth()
+{
+    // Create cv::Mat from Depth Buffer
+    depthMat = cv::Mat( depthHeight, depthWidth, CV_16UC1, &depthBuffer[0] );
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Color
+    showColor();
+
+    // Show Depth
+    showDepth();
+}
+
+// Show Color
+inline void Kinect::showColor()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    // Resize Image
+    cv::Mat resizeMat;
+    const double scale = 0.5;
+    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );
+
+    // Show Image
+    cv::imshow( "Color", resizeMat );
+}
+
+// Show Depth
+inline void Kinect::showDepth()
+{
+    if( depthMat.empty() ){
+        return;
+    }
+
+    // Scaling ( 0-8000 -> 255-0 )
+    cv::Mat scaleMat;
+    depthMat.convertTo( scaleMat, CV_8U, -255.0 / 8000.0, 255.0 );
+    //cv::applyColorMap( scaleMat, scaleMat, cv::COLORMAP_BONE );
+
+    // Show Image
+    cv::imshow( "Depth", scaleMat );
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/MultiSource/app.h b/codes/Kinect2Sample-master/sample/MultiSource/app.h
new file mode 100644
index 0000000..f38a66d
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/MultiSource/app.h
@@ -0,0 +1,93 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+
+#include <vector>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Reader
+    ComPtr<IMultiSourceFrameReader> multiSourceFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Depth Buffer
+    std::vector<UINT16> depthBuffer;
+    int depthWidth;
+    int depthHeight;
+    unsigned int depthBytesPerPixel;
+    cv::Mat depthMat;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Multi Source
+    inline void initializeMultiSource();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Depth
+    inline void initializeDepth();
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor( const ComPtr<IMultiSourceFrame>& multiSourceFrame );
+
+    // Update Depth
+    inline void updateDepth( const ComPtr<IMultiSourceFrame>& multiSourceFrame );
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw Depth
+    inline void drawDepth();
+
+    // Show Data
+    void show();
+
+    // Show Color
+    inline void showColor();
+
+    // Show Depth
+    inline void showDepth();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/MultiSource/main.cpp b/codes/Kinect2Sample-master/sample/MultiSource/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/MultiSource/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/MultiSource/util.h b/codes/Kinect2Sample-master/sample/MultiSource/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/MultiSource/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/PointCloud/CMakeLists.txt b/codes/Kinect2Sample-master/sample/PointCloud/CMakeLists.txt
new file mode 100644
index 0000000..90f4d53
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/PointCloud/CMakeLists.txt
@@ -0,0 +1,50 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( PointCloud app.h app.cpp main.cpp util.h )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "PointCloud" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+set( OpenCV_DIR "C:/Program Files/opencv/build" )
+option( OpenCV_STATIC OFF )
+find_package( OpenCV REQUIRED )
+
+# Required Viz Module
+if( OpenCV_FOUND )
+  if( NOT "opencv_viz" IN_LIST OpenCV_LIBS )
+    message( FATAL_ERROR "not found opencv_viz module." )
+  endif()
+endif()
+
+# Set Static Link Runtime Library
+if( OpenCV_STATIC )
+  foreach( flag_var
+           CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+           CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+           CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+           CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO )
+    if( ${flag_var} MATCHES "/MD" )
+      string( REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}" )
+    endif()
+  endforeach()
+endif()
+
+if( KinectSDK2_FOUND AND OpenCV_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${OpenCV_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${OpenCV_LIB_DIR} )
+
+  # Additional Dependencies
+  target_link_libraries( PointCloud ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( PointCloud ${OpenCV_LIBS} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/PointCloud/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/PointCloud/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/PointCloud/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/PointCloud/app.cpp b/codes/Kinect2Sample-master/sample/PointCloud/app.cpp
new file mode 100644
index 0000000..849bd71
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/PointCloud/app.cpp
@@ -0,0 +1,304 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+#include <sstream>
+#include <iomanip>
+#include <string>
+
+#include <ppl.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Main Loop
+    while( !viewer.wasStopped() ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Wait a Few Time
+        std::this_thread::sleep_for( std::chrono::milliseconds( 10 ) );
+    }
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    cv::setUseOptimized( true );
+
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Color
+    initializeColor();
+
+    // Initialize Depth
+    initializeDepth();
+
+    // Initialize Point Cloud
+    initializePointCloud();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+
+    // Retrieve Coordinate Mapper
+    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
+}
+
+// Initialize Color
+inline void Kinect::initializeColor()
+{
+    // Open Color Reader
+    ComPtr<IColorFrameSource> colorFrameSource;
+    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
+    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
+
+    // Retrieve Color Description
+    ComPtr<IFrameDescription> colorFrameDescription;
+    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
+    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
+    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
+    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4
+
+    // Allocation Color Buffer
+    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
+}
+
+// Initialize Depth
+inline void Kinect::initializeDepth()
+{
+    // Open Depth Reader
+    ComPtr<IDepthFrameSource> depthFrameSource;
+    ERROR_CHECK( kinect->get_DepthFrameSource( &depthFrameSource ) );
+    ERROR_CHECK( depthFrameSource->OpenReader( &depthFrameReader ) );
+
+    // Retrieve Depth Description
+    ComPtr<IFrameDescription> depthFrameDescription;
+    ERROR_CHECK( depthFrameSource->get_FrameDescription( &depthFrameDescription ) );
+    ERROR_CHECK( depthFrameDescription->get_Width( &depthWidth ) ); // 512
+    ERROR_CHECK( depthFrameDescription->get_Height( &depthHeight ) ); // 424
+    ERROR_CHECK( depthFrameDescription->get_BytesPerPixel( &depthBytesPerPixel ) ); // 2
+
+    // Allocation Depth Buffer
+    depthBuffer.resize( depthWidth * depthHeight );
+}
+
+// Initialize Point Cloud
+inline void Kinect::initializePointCloud()
+{
+    // Create Window
+    viewer = cv::viz::Viz3d( "Point Cloud" );
+
+    // Register Keyboard Callback Function
+    viewer.registerKeyboardCallback( &keyboardCallback, this );
+
+    // Show Coordinate System
+    viewer.showWidget( "CoordinateSystem", cv::viz::WCameraPosition::WCameraPosition( 0.5 ) );
+}
+
+// Keyboard Callback Function
+void Kinect::keyboardCallback( const cv::viz::KeyboardEvent& event, void* cookie )
+{
+    // Exit Viewer when Pressed ESC key
+    if( event.code == VK_ESCAPE && event.action == cv::viz::KeyboardEvent::Action::KEY_DOWN ){
+        // Retrieve Viewer
+        cv::viz::Viz3d viewer = static_cast<Kinect*>( cookie )->viewer;
+
+        // Close Viewer
+        viewer.close();
+    }
+    // Save Point Cloud to File when Pressed 's' key
+    else if( event.code == 's' && event.action == cv::viz::KeyboardEvent::Action::KEY_DOWN ){
+        // Retrieve Point Cloud and Color
+        cv::Mat cloud = static_cast<Kinect*>( cookie )->cloudMat;
+        cv::Mat color = static_cast<Kinect*>( cookie )->colorMat;
+
+        // Generate File Name
+        static int i = 0;
+        std::ostringstream oss;
+        oss << std::setfill( '0' ) << std::setw( 3 ) << i++;
+        std::string file = oss.str() + ".ply";
+
+        // Write Point Cloud to File
+        cv::viz::writeCloud( file, cloud, color, cv::noArray(), false );
+    }
+};
+
+// Finalize
+void Kinect::finalize()
+{
+    cv::viz::unregisterAllWindows();
+
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Color
+    updateColor();
+
+    // Update Depth
+    updateDepth();
+}
+
+// Update Color
+inline void Kinect::updateColor()
+{
+    // Retrieve Color Frame
+    ComPtr<IColorFrame> colorFrame;
+    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Convert Format ( YUY2 -> BGRA )
+    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
+}
+
+// Update Depth
+inline void Kinect::updateDepth()
+{
+    // Retrieve Depth Frame
+    ComPtr<IDepthFrame> depthFrame;
+    const HRESULT ret = depthFrameReader->AcquireLatestFrame( &depthFrame );
+    if( FAILED( ret ) ){
+        return;
+    }
+
+    // Retrieve Depth Data
+    ERROR_CHECK( depthFrame->CopyFrameDataToArray( static_cast<UINT>( depthBuffer.size() ), &depthBuffer[0] ) );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Color
+    drawColor();
+
+    // Draw Point Cloud
+    drawPointCloud();
+}
+
+// Draw Color
+inline void Kinect::drawColor()
+{
+    // Retrieve Mapped Coordinates
+    std::vector<ColorSpacePoint> colorSpacePoints( depthWidth * depthHeight );
+    ERROR_CHECK( coordinateMapper->MapDepthFrameToColorSpace( depthBuffer.size(), &depthBuffer[0], colorSpacePoints.size(), &colorSpacePoints[0] ) );
+
+    // Mapping Color to Depth Resolution
+    std::vector<BYTE> buffer( depthWidth * depthHeight * colorBytesPerPixel );
+
+    Concurrency::parallel_for( 0, depthHeight, [&]( const int depthY ){
+        const unsigned int depthOffset = depthY * depthWidth;
+        for( int depthX = 0; depthX < depthWidth; depthX++ ){
+            unsigned int depthIndex = depthOffset + depthX;
+            const int colorX = static_cast<int>( colorSpacePoints[depthIndex].X + 0.5f );
+            const int colorY = static_cast<int>( colorSpacePoints[depthIndex].Y + 0.5f );
+            if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){
+                const unsigned int colorIndex = ( colorY * colorWidth + colorX ) * colorBytesPerPixel;
+                depthIndex = depthIndex * colorBytesPerPixel;
+                buffer[depthIndex + 0] = colorBuffer[colorIndex + 0];
+                buffer[depthIndex + 1] = colorBuffer[colorIndex + 1];
+                buffer[depthIndex + 2] = colorBuffer[colorIndex + 2];
+                buffer[depthIndex + 3] = colorBuffer[colorIndex + 3];
+            }
+        }
+    } );
+
+    // Create cv::Mat from Coordinate Buffer
+    colorMat = cv::Mat( depthHeight, depthWidth, CV_8UC4, &buffer[0] ).clone();
+}
+
+// Draw Point Cloud
+inline void Kinect::drawPointCloud()
+{
+    // Retrieve Mapped Coordinates
+    std::vector<CameraSpacePoint> cameraSpacePoints( depthWidth * depthHeight );
+    ERROR_CHECK( coordinateMapper->MapDepthFrameToCameraSpace( depthBuffer.size(), &depthBuffer[0], cameraSpacePoints.size(), &cameraSpacePoints[0] ) );
+
+    // Mapping Color to Depth Resolution
+    std::vector<cv::Vec3f> buffer( depthWidth * depthHeight, cv::Vec3f::all( std::numeric_limits<float>::quiet_NaN() ) );
+
+    Concurrency::parallel_for( 0, depthHeight, [&]( const int depthY ){
+        const unsigned int depthOffset = depthY * depthWidth;
+        for( int depthX = 0; depthX < depthWidth; depthX++ ){
+            unsigned int depthIndex = depthOffset + depthX;
+            UINT16 depth = depthBuffer[depthIndex];
+            if( 500 <= depth && depth < 8000 ){
+                CameraSpacePoint cameraSpacePoint = cameraSpacePoints[depthIndex];
+                buffer[depthIndex] = cv::Vec3f( cameraSpacePoint.X, cameraSpacePoint.Y, cameraSpacePoint.Z );
+            }
+        }
+    } );
+
+    // Create cv::Mat from Coordinate Buffer
+    cloudMat = cv::Mat( depthHeight, depthWidth, CV_32FC3, &buffer[0] ).clone();
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Point Cloud
+    showPointCloud();
+}
+
+// Show Point Cloud
+inline void Kinect::showPointCloud()
+{
+    if( colorMat.empty() ){
+        return;
+    }
+
+    if( cloudMat.empty() ){
+        return;
+    }
+
+    // Create Point Cloud
+    cv::viz::WCloud cloud( cloudMat, colorMat );
+
+    // Show Point Cloud
+    viewer.showWidget( "Cloud", cloud );
+    viewer.spinOnce();
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/PointCloud/app.h b/codes/Kinect2Sample-master/sample/PointCloud/app.h
new file mode 100644
index 0000000..74656a5
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/PointCloud/app.h
@@ -0,0 +1,101 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+#include <opencv2/opencv.hpp>
+#include <opencv2/viz.hpp>
+
+#include <vector>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Coordinate Mapper
+    ComPtr<ICoordinateMapper> coordinateMapper;
+
+    // Reader
+    ComPtr<IColorFrameReader> colorFrameReader;
+    ComPtr<IDepthFrameReader> depthFrameReader;
+
+    // Color Buffer
+    std::vector<BYTE> colorBuffer;
+    int colorWidth;
+    int colorHeight;
+    unsigned int colorBytesPerPixel;
+    cv::Mat colorMat;
+
+    // Depth Buffer
+    std::vector<UINT16> depthBuffer;
+    int depthWidth;
+    int depthHeight;
+    unsigned int depthBytesPerPixel;
+
+    // Point Cloud Buffer
+    cv::viz::Viz3d viewer;
+    cv::Mat cloudMat;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Color
+    inline void initializeColor();
+
+    // Initialize Depth
+    inline void initializeDepth();
+
+    // Initialize Point Cloud
+    inline void initializePointCloud();
+
+    // Keyboard Callback Function
+    static void keyboardCallback( const cv::viz::KeyboardEvent& event, void* cookie );
+
+    // Finalize
+    void finalize();
+
+    // Update Data
+    void update();
+
+    // Update Color
+    inline void updateColor();
+
+    // Update Depth
+    inline void updateDepth();
+
+    // Draw Data
+    void draw();
+
+    // Draw Color
+    inline void drawColor();
+
+    // Draw Point Cloud
+    inline void drawPointCloud();
+
+    // Show Data
+    void show();
+
+    // Show Point Cloud
+    inline void showPointCloud();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/PointCloud/main.cpp b/codes/Kinect2Sample-master/sample/PointCloud/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/PointCloud/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/PointCloud/util.h b/codes/Kinect2Sample-master/sample/PointCloud/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/PointCloud/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Speech/CMakeLists.txt b/codes/Kinect2Sample-master/sample/Speech/CMakeLists.txt
new file mode 100644
index 0000000..df17b1d
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/CMakeLists.txt
@@ -0,0 +1,28 @@
+cmake_minimum_required( VERSION 3.6 )
+
+# Create Project
+project( Sample )
+add_executable( Speech app.h app.cpp main.cpp util.h KinectAudioStream.h KinectAudioStream.cpp )
+
+# Set StartUp Project
+set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "Speech" )
+
+# Find Package
+set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} )
+find_package( KinectSDK2 REQUIRED )
+
+find_package( SpeechPlatformSDK REQUIRED )
+
+if( KinectSDK2_FOUND AND SpeechPlatformSDK_FOUND )
+  # Additional Include Directories
+  include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+  include_directories( ${SpeechPlatformSDK_INCLUDE_DIRS} )
+
+  # Additional Library Directories
+  link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+  link_directories( ${SpeechPlatformSDK_LIBRARY_DIRS} )
+
+  # Additional Dependencies
+  target_link_libraries( Speech ${KinectSDK2_LIBRARIES} )
+  target_link_libraries( Speech ${SpeechPlatformSDK_LIBRARIES} )
+endif()
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Speech/FindKinectSDK2.cmake b/codes/Kinect2Sample-master/sample/Speech/FindKinectSDK2.cmake
new file mode 100644
index 0000000..00a2036
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/FindKinectSDK2.cmake
@@ -0,0 +1,182 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries and post-build commands
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Speech/FindSpeechPlatformSDK.cmake b/codes/Kinect2Sample-master/sample/Speech/FindSpeechPlatformSDK.cmake
new file mode 100644
index 0000000..8874de2
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/FindSpeechPlatformSDK.cmake
@@ -0,0 +1,122 @@
+#.rst:
+# FindSpeechPlatformSDK
+# ---------------------
+#
+# Find Speech Platform SDK include dirs, library dirs, libraries
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( SpeechPlatformSDK [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    SpeechPlatformSDK_FOUND         - Return "TRUE" when Speech Platform SDK found. Otherwise, Return "FALSE".
+#    SpeechPlatformSDK_INCLUDE_DIRS  - Speech Platform SDK include directories. ($(SpeechPlatformSDK_DIR)/Include)
+#    SpeechPlatformSDK_LIBRARY_DIRS  - Speech Platform SDK library directories. ($(SpeechPlatformSDK_DIR)/Lib)
+#    SpeechPlatformSDK_LIBRARIES     - Speech Platform SDK library files. ($(SpeechPlatformSDK_LIBRARY_DIRS)/sapi.lib)
+#
+# CMake entries::
+#
+#    SpeechPlatformSDK_DIR           - Speech Platform SDK root directory. (Default $(ProgramFiles)/Microsoft SDKs/Speech/v11.0 or $(ProgramW6432)/Microsoft SDKs/Speech/v11.0)
+#
+# Example to find Speech Platform SDK::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#
+#    # Find package using this module.
+#    find_package( SpeechPlatformSDK REQUIRED )
+#
+#    if( SpeechPlatformSDK_FOUND )
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${SpeechPlatformSDK_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${SpeechPlatformSDK_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${SpeechPlatformSDK_LIBRARIES} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(SpeechPlatformSDK_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(SpeechPlatformSDK_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Program Files
+set(PROGRAMFILES)
+if(NOT CMAKE_CL_64)
+  set(PROGRAMFILES $ENV{ProgramFiles})
+else()
+  set(PROGRAMFILES $ENV{ProgramW6432})
+endif()
+
+##### Find Speech Platform SDK #####
+
+# Found
+set(SpeechPlatformSDK_FOUND TRUE)
+
+# Root Directoty
+set(SpeechPlatformSDK_DIR)
+if(SpeechPlatformSDK_FOUND)
+  set(SpeechPlatformSDK_DIR ${PROGRAMFILES}/Microsoft\ SDKs/Speech/v11.0 CACHE PATH "Speech Platform SDK Install Path." FORCE)
+  check_dir(SpeechPlatformSDK_DIR)
+endif()
+
+# Include Directories
+set(SpeechPlatformSDK_INCLUDE_DIRS)
+if(SpeechPlatformSDK_FOUND)
+  set(SpeechPlatformSDK_INCLUDE_DIRS ${SpeechPlatformSDK_DIR}/Include)
+  check_dir(SpeechPlatformSDK_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(SpeechPlatformSDK_LIBRARY_DIRS)
+if(SpeechPlatformSDK_FOUND)
+  set(SpeechPlatformSDK_LIBRARY_DIRS ${SpeechPlatformSDK_DIR}/Lib)
+  check_dir(SpeechPlatformSDK_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(SpeechPlatformSDK_LIBRARIES)
+if(SpeechPlatformSDK_FOUND)
+  set(SpeechPlatformSDK_LIBRARIES ${SpeechPlatformSDK_LIBRARY_DIRS}/sapi.lib)
+  check_files(SpeechPlatformSDK_LIBRARIES SpeechPlatformSDK_LIBRARY_DIRS)
+endif()
+
+message(STATUS "SpeechPlatformSDK_FOUND : ${SpeechPlatformSDK_FOUND}")
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Speech/Grammar_enUS.grxml b/codes/Kinect2Sample-master/sample/Speech/Grammar_enUS.grxml
new file mode 100644
index 0000000..efa2473
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/Grammar_enUS.grxml
@@ -0,0 +1,32 @@
+<grammar version="1.0" xml:lang="en-US" root="rootRule" tag-format="semantics/1.0-literals" xmlns="http://www.w3.org/2001/06/grammar">
+  <rule id="rootRule">
+    <one-of>
+      <item>
+        <tag>RED</tag>
+        <one-of>
+          <item> Red </item>
+        </one-of>
+      </item>
+      <item>
+        <tag>GREEN</tag>
+        <one-of>
+          <item> Green </item>
+        </one-of>
+      </item>
+      <item>
+        <tag>BLUE</tag>
+        <one-of>
+          <item> Blue </item>
+        </one-of>
+      </item>
+      <item>
+        <tag>EXIT</tag>
+        <one-of>
+          <item> Exit </item>
+          <item> Quit </item>
+          <item> Stop </item>
+        </one-of>
+      </item>
+    </one-of>
+  </rule>
+</grammar>
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Speech/Grammar_jaJP.grxml b/codes/Kinect2Sample-master/sample/Speech/Grammar_jaJP.grxml
new file mode 100644
index 0000000..333a587
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/Grammar_jaJP.grxml
@@ -0,0 +1,34 @@
+<grammar version="1.0" xml:lang="ja-JP" root="rootRule" tag-format="semantics/1.0-literals" xmlns="http://www.w3.org/2001/06/grammar">
+  <rule id="rootRule">
+    <one-of>
+      <item>
+        <tag>RED</tag>
+        <one-of>
+          <item> 赤 </item>
+          <item> 赤色 </item>
+        </one-of>
+      </item>
+      <item>
+        <tag>GREEN</tag>
+        <one-of>
+          <item> 緑 </item>
+          <item> 緑色 </item>
+        </one-of>
+      </item>
+      <item>
+        <tag>BLUE</tag>
+        <one-of>
+          <item> 青 </item>
+          <item> 青色 </item>
+        </one-of>
+      </item>
+      <item>
+        <tag>EXIT</tag>
+        <one-of>
+          <item> 終わり </item>
+          <item> 終了 </item>
+        </one-of>
+      </item>
+    </one-of>
+  </rule>
+</grammar>
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Speech/KinectAudioStream.cpp b/codes/Kinect2Sample-master/sample/Speech/KinectAudioStream.cpp
new file mode 100644
index 0000000..a47a10e
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/KinectAudioStream.cpp
@@ -0,0 +1,172 @@
+//------------------------------------------------------------------------------
+// <copyright file="KinectAudioStream.cpp" company="Microsoft">
+//   Copyright (c) Microsoft Corporation.  All rights reserved.
+// </copyright>
+// <summary>
+//   Implementation for KinectAudioStream methods.
+//   KinectAudioStream wraps the Kinect audio stream and does proper format
+//   conversion during read.
+// </summary>
+//------------------------------------------------------------------------------
+
+//#include "stdafx.h"
+#include "KinectAudioStream.h"
+
+#include <stdio.h>
+
+/// <summary>
+/// KinectAudioStream constructor.
+/// </summary>
+KinectAudioStream::KinectAudioStream(IStream *p32BitAudio) :
+    m_cRef(1),
+    m_p32BitAudio(p32BitAudio),
+    m_SpeechActive(false)
+
+{
+}
+
+/// <summary>
+/// SetSpeechState method
+/// </summary>
+void KinectAudioStream::SetSpeechState(bool state)
+{
+    m_SpeechActive = state;
+}
+
+/////////////////////////////////////////////
+// IStream methods
+__pragma(warning(push))
+__pragma(warning(disable:6101)) // Suppress warning about returning uninitialized memory *pBuffer. It is written correctly.
+__pragma(warning(disable:6386)) // Suppress warning about buffer overrun while writing to 'pByteBuffer'. There are no overruns.
+STDMETHODIMP KinectAudioStream::Read(
+    _Out_writes_bytes_to_(cbBuffer, *pcbRead) void *pBuffer, 
+    _In_ ULONG cbBuffer, 
+    _Out_opt_ ULONG *pcbRead)
+{
+    if (pBuffer == NULL || pcbRead == NULL || cbBuffer == 0)
+    {
+        return E_INVALIDARG;
+    }
+
+    HRESULT hr = S_OK;
+
+    // 32bit -> 16bit conversion support
+    INT16* p16Buffer = (INT16*)pBuffer;
+    int factor = sizeof(float)/sizeof(INT16);
+
+    // 32 bit read support
+    float* p32Buffer = new float[cbBuffer/factor];
+    byte* pByteBuffer = (byte*)p32Buffer;
+    ULONG bytesRead = 0;
+    ULONG bytesRemaining = cbBuffer * factor;
+
+    // Speech reads at high frequency - this slows down the process
+    int sleepDuration = 50;
+
+    // Speech Service isn't tolerant of partial reads
+    while (bytesRemaining > 0)
+    {
+        // Stop returning Audio data if Speech isn't active
+        if (!m_SpeechActive)
+        {
+            *pcbRead = 0;
+            hr = S_FALSE;
+            goto exit;
+        }
+
+        // bytesRead will always be a multiple of 4 ( = sizeof(float))
+        hr = m_p32BitAudio->Read(pByteBuffer, bytesRemaining, &bytesRead);
+        pByteBuffer += bytesRead;
+        bytesRemaining -= bytesRead;
+
+        // All Audio buffers drained - wait for buffers to fill
+        if (bytesRemaining != 0)
+        {
+            Sleep(sleepDuration);
+        }
+    }
+
+    // Convert float value [-1,1] to int16 [SHRT_MIN, SHRT_MAX] and copy to output butter
+    for (UINT i = 0; i < cbBuffer/factor; i++)
+    {
+        float sample = p32Buffer[i];
+
+        // Make sure it is in the range [-1, +1]
+        if (sample > 1.0f)
+        {
+            sample = 1.0f;
+        }
+        else if (sample < -1.0f)
+        {
+            sample = -1.0f;
+        }
+
+        // Scale float to the range (SHRT_MIN, SHRT_MAX] and then
+        // convert to 16-bit signed with proper rounding
+        float sampleScaled = sample * (float)SHRT_MAX;
+        p16Buffer[i] = (sampleScaled > 0.f) ? (INT16)(sampleScaled + 0.5f) : (INT16)(sampleScaled - 0.5f);
+    }
+
+    *pcbRead = cbBuffer;
+
+exit:
+    delete[] p32Buffer;
+    return hr;
+}
+__pragma(warning(pop))
+
+STDMETHODIMP KinectAudioStream::Write(_In_reads_bytes_(cb) const void *pv, _In_ ULONG cb, _Out_opt_ ULONG *pcbWritten)
+{
+    return E_NOTIMPL;
+}
+
+STDMETHODIMP KinectAudioStream::Seek(LARGE_INTEGER /* dlibMove */, DWORD /* dwOrigin */, _Out_opt_ ULARGE_INTEGER *plibNewPosition)
+{
+    // Speech seeks and expects a seek implementation - but the NUIAudio stream doesn't support seeking
+    if (plibNewPosition != NULL)
+    {
+        plibNewPosition->QuadPart = 0;
+    }
+
+    return S_OK;
+}
+
+STDMETHODIMP KinectAudioStream::SetSize(ULARGE_INTEGER)
+{
+    return E_NOTIMPL;
+}
+
+STDMETHODIMP KinectAudioStream::CopyTo(_In_ IStream *, ULARGE_INTEGER, _Out_opt_ ULARGE_INTEGER *, _Out_opt_ ULARGE_INTEGER *)
+{
+    return E_NOTIMPL;
+}
+
+STDMETHODIMP KinectAudioStream::Commit(DWORD)
+{
+    return E_NOTIMPL;
+}
+
+STDMETHODIMP KinectAudioStream::Revert()
+{
+    return E_NOTIMPL;
+}
+
+STDMETHODIMP KinectAudioStream::LockRegion(ULARGE_INTEGER, ULARGE_INTEGER, DWORD)
+{
+    return E_NOTIMPL;
+}
+
+STDMETHODIMP KinectAudioStream::UnlockRegion(ULARGE_INTEGER, ULARGE_INTEGER, DWORD)
+{
+    return E_NOTIMPL;
+}
+
+STDMETHODIMP KinectAudioStream::Stat(__RPC__out STATSTG *, DWORD)
+{
+    return E_NOTIMPL;
+}
+
+STDMETHODIMP KinectAudioStream::Clone(__RPC__deref_out_opt IStream **)
+{
+    return E_NOTIMPL;
+}
diff --git a/codes/Kinect2Sample-master/sample/Speech/KinectAudioStream.h b/codes/Kinect2Sample-master/sample/Speech/KinectAudioStream.h
new file mode 100644
index 0000000..7a9d318
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/KinectAudioStream.h
@@ -0,0 +1,89 @@
+//------------------------------------------------------------------------------
+// <copyright file="KinectAudioStream.h" company="Microsoft">
+//   Copyright (c) Microsoft Corporation.  All rights reserved.
+// </copyright>
+// <summary>
+//   Includes common headers and defines following classes:
+//     - KinectAudioStream: IStream implementation to convert 32Bit Kinect Stream to 16Bit for Speech.
+// </summary>
+//------------------------------------------------------------------------------
+#pragma once
+
+// For WAVEFORMATEX
+#include <Windows.h>
+#include <mmreg.h>
+#include <Shlobj.h>
+
+/// <summary>
+/// Asynchronous IStream implementation that captures audio data from Kinect audio sensor in a background thread
+/// and lets clients read captured audio from any thread.
+/// </summary>
+class KinectAudioStream : public IStream
+{
+public:
+    /////////////////////////////////////////////
+    // KinectAudioStream methods
+
+    /// <summary>
+    /// KinectAudioStream constructor.
+    /// </summary>
+    KinectAudioStream(IStream *p32BitAudioStream);
+
+    /// <summary>
+    /// SetSpeechState method
+    /// </summary>
+    void SetSpeechState(bool state);
+
+    /////////////////////////////////////////////
+    // IUnknown methods
+    STDMETHODIMP_(ULONG) AddRef() { return InterlockedIncrement(&m_cRef); }
+    STDMETHODIMP_(ULONG) Release()
+    {
+        UINT ref = InterlockedDecrement(&m_cRef);
+        if (ref == 0)
+        {
+            delete this;
+        }
+        return ref;
+    }
+    STDMETHODIMP QueryInterface(REFIID riid, void **ppv)
+    {
+        if (riid == IID_IUnknown)
+        {
+            AddRef();
+            *ppv = (IUnknown*)this;
+            return S_OK;
+        }
+        else if (riid == IID_IStream)
+        {
+            AddRef();
+            *ppv = (IStream*)this;
+            return S_OK;
+        }
+        else
+        {
+            return E_NOINTERFACE;
+        }
+    }
+
+    /////////////////////////////////////////////
+    // IStream methods
+    STDMETHODIMP Read(_Out_writes_bytes_to_(cbBuffer, *pcbRead) void *pBuffer , _In_ ULONG cbBuffer, _Out_opt_ ULONG *pcbRead);
+    STDMETHODIMP Write(_In_reads_bytes_(cb) const void *pv, _In_ ULONG cb, _Out_opt_ ULONG *pcbWritten);
+    STDMETHODIMP Seek(LARGE_INTEGER, DWORD, _Out_opt_ ULARGE_INTEGER *);
+    STDMETHODIMP SetSize(ULARGE_INTEGER);
+    STDMETHODIMP CopyTo(_In_ IStream *, ULARGE_INTEGER, _Out_opt_ ULARGE_INTEGER *, _Out_opt_ ULARGE_INTEGER *);
+    STDMETHODIMP Commit(DWORD);
+    STDMETHODIMP Revert();
+    STDMETHODIMP LockRegion(ULARGE_INTEGER, ULARGE_INTEGER, DWORD);
+    STDMETHODIMP UnlockRegion(ULARGE_INTEGER, ULARGE_INTEGER, DWORD);
+    STDMETHODIMP Stat(__RPC__out STATSTG *, DWORD);
+    STDMETHODIMP Clone(__RPC__deref_out_opt IStream **);
+
+private:
+    
+    // Number of references to this object
+    UINT                    m_cRef; 
+    IStream*                m_p32BitAudio;
+    bool                    m_SpeechActive;
+};
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Speech/app.cpp b/codes/Kinect2Sample-master/sample/Speech/app.cpp
new file mode 100644
index 0000000..e041e27
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/app.cpp
@@ -0,0 +1,388 @@
+#include "app.h"
+#include "util.h"
+
+#include <thread>
+#include <chrono>
+#include <iostream>
+
+#pragma warning(disable: 4996) // for error GetVersionExW() of sphelper.h
+#include <sphelper.h> // for SpFindBestToken()
+#include <locale.h>
+
+// Constructor
+Kinect::Kinect()
+{
+    // Initialize
+    initialize();
+}
+
+// Destructor
+Kinect::~Kinect()
+{
+    // Finalize
+    finalize();
+}
+
+// Processing
+void Kinect::run()
+{
+    // Start Speech Recognition
+    start();
+
+    // Main Loop
+    while( true ){
+        // Update Data
+        update();
+
+        // Draw Data
+        draw();
+
+        // Show Data
+        show();
+
+        // Key Check
+        if( GetKeyState( VK_ESCAPE ) < 0 || exit ){
+            break;
+        }
+    }
+
+    // Stop Speech Recognition
+    stop();
+}
+
+// Initialize
+void Kinect::initialize()
+{
+    // Initialize Sensor
+    initializeSensor();
+
+    // Initialize Audio
+    initializeAudio();
+
+    // Initialize Speech Recognition
+    initializeSpeech();
+
+    // Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
+    std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
+}
+
+// Initialize Sensor
+inline void Kinect::initializeSensor()
+{
+    // Open Sensor
+    ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
+
+    ERROR_CHECK( kinect->Open() );
+
+    // Check Open
+    BOOLEAN isOpen = FALSE;
+    ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
+    if( !isOpen ){
+        throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
+    }
+}
+
+// Initialize Audio
+inline void Kinect::initializeAudio()
+{
+    // Retrieve Audio Source
+    ComPtr<IAudioSource> audioSource;
+    ERROR_CHECK( kinect->get_AudioSource( &audioSource ) );
+
+    // Retrieve Audio Beam List
+    ComPtr<IAudioBeamList> audioBeamList;
+    ERROR_CHECK( audioSource->get_AudioBeams( &audioBeamList ) );
+
+    // Open Audio Beam
+    ERROR_CHECK( audioBeamList->OpenAudioBeam( 0, &audioBeam ) );
+
+    // Open Audio Input Stream and Create Audio Stream
+    ERROR_CHECK( audioBeam->OpenInputStream( &inputStream ) );
+    audioStream = new KinectAudioStream( inputStream.Get() );
+}
+
+// Initialize Speech Recognition
+inline void Kinect::initializeSpeech()
+{
+    CoInitialize( NULL );
+
+    // Initialize Speech Stream
+    initializeSpeechStream();
+
+    // Create Speech Recognizer
+    // "en-US" ... English, "ja-JP" ... Japanese
+    createSpeechRecognizer( "en-US" );
+
+    // Load Speech Recognition Grammar from Grammar File (*.grxml)
+    // Grammar ID, Grammar File Name
+    loadSpeechGrammar( 0, L"../Grammar_enUS.grxml" );
+    /*loadSpeechGrammar( 1, L"../Grammar_Additional.grxml" );*/
+
+    CoUninitialize();
+}
+
+// Initialize Speech Stream
+inline void Kinect::initializeSpeechStream()
+{
+    // Create Speech Stream Instance
+    CoCreateInstance( CLSID_SpStream, NULL, CLSCTX_INPROC_SERVER, __uuidof( ISpStream ), reinterpret_cast<void**>( speechStream.GetAddressOf() ) );
+
+    // Set Wave Format
+    WORD AudioFormat = WAVE_FORMAT_PCM;
+    WORD AudioChannels = 1;
+    DWORD AudioSamplesPerSecond = 16000;
+    DWORD AudioAverageBytesPerSecond = 32000;
+    WORD AudioBlockAlign = 2;
+    WORD AudioBitsPerSample = 16;
+
+    WAVEFORMATEX waveFormat = { AudioFormat, AudioChannels, AudioSamplesPerSecond, AudioAverageBytesPerSecond, AudioBlockAlign, AudioBitsPerSample, 0 };
+
+    // Registration Base Stream
+    ERROR_CHECK( speechStream->SetBaseStream( audioStream.Get(), SPDFID_WaveFormatEx, &waveFormat ) );
+}
+
+// Create Speech Recognizer
+inline void Kinect::createSpeechRecognizer( const std::string& language )
+{
+    // Create Speech Recognizer Instance
+    ERROR_CHECK( CoCreateInstance( CLSID_SpInprocRecognizer, NULL, CLSCTX_INPROC_SERVER, __uuidof( ISpRecognizer ), reinterpret_cast<void**>( speechRecognizer.GetAddressOf() ) ) );
+
+    // Registration Input Stream
+    ERROR_CHECK( speechRecognizer->SetInput( speechStream.Get(), TRUE ) );
+
+    // Retrieve Language Attribute (Hexadecimal Value;Kinect Support)
+    // Kinect for Windows SDK 2.0 Language Packs http://www.microsoft.com/en-us/download/details.aspx?id=43662
+    // L"Language=409;Kinect=True" ... English | United States (MSKinectLangPack_enUS.msi)
+    // L"Language=411;Kinect=True" ... Japanese | Japan (MSKinectLangPack_jaJP.msi)
+    // Other Languages Hexadecimal Value, Please see here https://msdn.microsoft.com/en-us/library/hh378476(v=office.14).aspx
+    std::wstring attribute;
+    if( language == "de-DE" ){
+        attribute = L"Language=C07;Kinect=True";
+    }
+    else if( language == "en-AU" ){
+        attribute = L"Language=C09;Kinect=True";
+    }
+    else if( language == "en-CA" ){
+        attribute = L"Language=1009;Kinect=True";
+    }
+    else if( language == "en-GB" ){
+        attribute = L"Language=809;Kinect=True";
+    }
+    else if( language == "en-IE" ){
+        attribute = L"Language=1809;Kinect=True";
+    }
+    else if( language == "en-NZ" ){
+        attribute = L"Language=1409;Kinect=True";
+    }
+    else if( language == "en-US" ){
+        attribute = L"Language=409;Kinect=True";
+    }
+    else if( language == "es-ES" ){
+        attribute = L"Language=2C0A;Kinect=True";
+    }
+    else if( language == "es-MX" ){
+        attribute = L"Language=80A;Kinect=True";
+    }
+    else if( language == "fr-CA" ){
+        attribute = L"Language=C0C;Kinect=True";
+    }
+    else if( language == "fr-FR" ){
+        attribute = L"Language=40c;Kinect=True";
+    }
+    else if( language == "it-IT" ){
+        attribute = L"Language=410;Kinect=True";
+    }
+    else if( language == "ja-JP" ){
+        attribute = L"Language=411;Kinect=True";
+    }
+    else{
+        throw std::runtime_error( "failed " __FUNCTION__ );
+    }
+
+    // Set Local
+    setlocale( LC_CTYPE, language.c_str() );
+
+    // Retrieve and Registration Speech Recognizer Engine
+    CComPtr<ISpObjectToken> engineToken;
+    ERROR_CHECK( SpFindBestToken( SPCAT_RECOGNIZERS, attribute.c_str(), NULL, &engineToken ) );
+    ERROR_CHECK( speechRecognizer->SetRecognizer( engineToken ) );
+
+    // Create Speech Recognizer Context
+    ERROR_CHECK( speechRecognizer->CreateRecoContext( &speechContext ) );
+
+    // Set Adaptation of Acoustic Model to OFF (0)
+    // (For Long Time (few hours~) Running Program of Speech Recognition)
+    ERROR_CHECK( speechRecognizer->SetPropertyNum( L"AdaptationOn", 0 ) );
+}
+
+// Load Speech Recognition Grammar from Grammar File (*.grxml)
+inline void Kinect::loadSpeechGrammar( const ULONGLONG id, const std::wstring& grammar )
+{
+    // Load Speech Recognition Grammar from Grammar File (*.grxml)
+    speechGrammar.push_back( nullptr );
+    ERROR_CHECK( speechContext->CreateGrammar( id, &speechGrammar.back() ) );
+    ERROR_CHECK( speechGrammar.back()->LoadCmdFromFile( grammar.c_str(), SPLOADOPTIONS::SPLO_STATIC ) );
+}
+
+// Finalize
+void Kinect::finalize()
+{
+    // Close Sensor
+    if( kinect != nullptr ){
+        kinect->Close();
+    }
+}
+
+// Start Speech Recognition
+void Kinect::start()
+{
+    std::cout << "start speech recognition..." << std::endl;
+
+    // Set Audio Input Stream to Start
+    audioStream->SetSpeechState( true );
+
+    // Set Speech Recognition Grammar to Enable
+    for( const ComPtr<ISpRecoGrammar> grammar : speechGrammar ){
+        ERROR_CHECK( grammar->SetRuleState( NULL, NULL, SPRULESTATE::SPRS_ACTIVE ) );
+    }
+
+    // Set Recognition Status to Active
+    ERROR_CHECK( speechRecognizer->SetRecoState( SPRECOSTATE::SPRST_ACTIVE_ALWAYS ) );
+
+    // Set Event Generation Timing to Complete Speech Recognition
+    ERROR_CHECK( speechContext->SetInterest( SPFEI( SPEVENTENUM::SPEI_RECOGNITION ), SPFEI( SPEVENTENUM::SPEI_RECOGNITION ) ) );
+
+    // Set Speech Recognition to Resume
+    ERROR_CHECK( speechContext->Resume( 0 ) );
+
+    // Retrieve Speech Recognition Event Handle
+    speechEvent = speechContext->GetNotifyEventHandle();
+}
+
+// Stop Speech Recognition
+void Kinect::stop()
+{
+    // Set Audio Input Strem to Stop
+    audioStream->SetSpeechState( false );
+
+    // Set Recognition Status to Inactive
+    ERROR_CHECK( speechRecognizer->SetRecoState( SPRECOSTATE::SPRST_INACTIVE_WITH_PURGE ) );
+
+    // Set Speech Recognition to Pause
+    ERROR_CHECK( speechContext->Pause( 0 ) );
+
+    // Close Speech Recognition Event Handle
+    CloseHandle( speechEvent );
+}
+
+// Update Data
+void Kinect::update()
+{
+    // Update Speech
+    updateSpeech();
+}
+
+// Update Speech
+inline void Kinect::updateSpeech()
+{
+    // Wait Speech Recognition Event
+    ResetEvent( speechEvent );
+    const HANDLE events[1] = { speechEvent };
+    objects = MsgWaitForMultipleObjectsEx( ARRAYSIZE( events ), events, 50, QS_ALLINPUT, MWMO_INPUTAVAILABLE );
+}
+
+// Draw Data
+void Kinect::draw()
+{
+    // Draw Speech
+    drawSpeech();
+}
+
+// Draw Speech
+inline void Kinect::drawSpeech()
+{
+    // Clear Recognition Result Buffer
+    recognizeResult.clear();
+
+    switch( objects ){
+        // Raising Speech Recognition Event
+        case WAIT_OBJECT_0:
+            // Retrive Speech Recognition Result
+            result();
+            break;
+        default:
+            break;
+    }
+}
+
+// Retrive Speech Recognition Result
+inline void Kinect::result()
+{
+    // Retrive Speech Recognition Event Status
+    SPEVENT eventStatus;
+    ULONG eventFetch;
+    ERROR_CHECK( speechContext->GetEvents( 1, &eventStatus, &eventFetch ) );
+
+    // Retrive Results
+    while( eventFetch > 0 ){
+        switch( eventStatus.eEventId ){
+            // Speech Recognition Event Status
+            case SPEVENTENUM::SPEI_RECOGNITION: 
+                if( eventStatus.elParamType == SPET_LPARAM_IS_OBJECT ){
+                    // Retrive Speech Recognition Results
+                    ComPtr<ISpRecoResult> speechResult = reinterpret_cast<ISpRecoResult*>( eventStatus.lParam );
+
+                    // Retrive Phrase
+                    // <tag>PHRASE</tag>
+                    SPPHRASE* phrase;
+                    ERROR_CHECK( speechResult->GetPhrase( &phrase ) );
+                    const SPPHRASEPROPERTY* semantic = phrase->pProperties->pFirstChild;
+                    const std::wstring tag = semantic->pszValue;
+
+                    // Retrive Text
+                    // <item>TEXT</item>
+                    wchar_t* text;
+                    ERROR_CHECK( speechResult->GetText( SP_GETWHOLEPHRASE, SP_GETWHOLEPHRASE, FALSE, &text, NULL ) );
+
+                    // Check Speech Recognition Confidence
+                    if( semantic->SREngineConfidence > confidenceThreshold ){
+                        // Add Phrase and Text to Result Buffer
+                        recognizeResult = L"Phrase : " + tag + L"\t Text : " + text; 
+
+                        // If Tag is "EXIT" Set Exit Flag to True
+                        if( tag == L"EXIT" ){
+                            exit = true;
+                        }
+                    }
+
+                    // Release Memory
+                    CoTaskMemFree( phrase );
+                    CoTaskMemFree( text );
+                }
+                break;
+            default:
+                break;
+        }
+        ERROR_CHECK( speechContext->GetEvents( 1, &eventStatus, &eventFetch ) );
+    }
+}
+
+// Show Data
+void Kinect::show()
+{
+    // Show Speech
+    showSpeech();
+}
+
+// Show Speech
+inline void Kinect::showSpeech()
+{
+    // Check Empty Result Buffer
+    if( !recognizeResult.size() ){
+        return;
+    }
+
+    // Show Result
+    std::wcout << recognizeResult << std::endl;
+
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Speech/app.h b/codes/Kinect2Sample-master/sample/Speech/app.h
new file mode 100644
index 0000000..a4831be
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/app.h
@@ -0,0 +1,102 @@
+#ifndef __APP__
+#define __APP__
+
+#include <Windows.h>
+#include <Kinect.h>
+// Quote from Kinect for Windows SDK v2.0 - Sample/Native/SpeechBasics-D2D
+// KinectAudioStream.h and .cpp : Copyright (c) Microsoft Corporation.  All rights reserved.
+#include "KinectAudioStream.h"
+#include <sapi.h>
+
+#include <vector>
+#include <string>
+
+#include <wrl/client.h>
+using namespace Microsoft::WRL;
+
+class Kinect
+{
+private:
+    // Sensor
+    ComPtr<IKinectSensor> kinect;
+
+    // Speech
+    ComPtr<IAudioBeam> audioBeam;
+    ComPtr<IStream> inputStream;
+    ComPtr<KinectAudioStream> audioStream;
+    ComPtr<ISpStream> speechStream;
+    ComPtr<ISpRecognizer> speechRecognizer;
+    ComPtr<ISpRecoContext> speechContext;
+    std::vector<ComPtr<ISpRecoGrammar>> speechGrammar;
+    HANDLE speechEvent;
+    DWORD objects = 0;
+
+    // Speech Buffer
+    std::wstring recognizeResult;
+    const float confidenceThreshold = 0.3f;
+    bool exit = false;
+
+public:
+    // Constructor
+    Kinect();
+
+    // Destructor
+    ~Kinect();
+
+    // Processing
+    void run();
+
+private:
+    // Initialize
+    void initialize();
+
+    // Initialize Sensor
+    inline void initializeSensor();
+
+    // Initialize Audio
+    inline void initializeAudio();
+
+    // Initialize Speech
+    inline void initializeSpeech();
+
+    // Initialize Speech Stream
+    inline void initializeSpeechStream();
+
+    // Create Speech Recognizer
+    inline void createSpeechRecognizer( const std::string& language = "en-US" );
+
+    // Load Speech Recognition Grammar from Grammar File (*.grxml)
+    inline void loadSpeechGrammar( const ULONGLONG id, const std::wstring& grammar );
+
+    // Finalize
+    void finalize();
+
+    // Start Speech Recognition
+    void start();
+
+    // Stop Speech Recognition
+    void stop();
+
+    // Update Data
+    void update();
+
+    // Update Speech
+    inline void updateSpeech();
+
+    // Draw Data
+    void draw();
+
+    // Draw Speech
+    inline void drawSpeech();
+
+    // Retrive Speech Recognition Result
+    inline void result();
+
+    // Show Data
+    void show();
+
+    // Show Speech
+    inline void showSpeech();
+};
+
+#endif // __APP__
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Speech/main.cpp b/codes/Kinect2Sample-master/sample/Speech/main.cpp
new file mode 100644
index 0000000..d88643c
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/main.cpp
@@ -0,0 +1,16 @@
+#include <iostream>
+#include <sstream>
+
+#include "app.h"
+
+int main( int argc, char* argv[] )
+{
+    try{
+        Kinect kinect;
+        kinect.run();
+    } catch( std::exception& ex ){
+        std::cout << ex.what() << std::endl;
+    }
+
+    return 0;
+}
\ No newline at end of file
diff --git a/codes/Kinect2Sample-master/sample/Speech/util.h b/codes/Kinect2Sample-master/sample/Speech/util.h
new file mode 100644
index 0000000..0d9787f
--- /dev/null
+++ b/codes/Kinect2Sample-master/sample/Speech/util.h
@@ -0,0 +1,37 @@
+#ifndef __UTIL__
+#define __UTIL__
+
+#include <sstream>
+#include <stdexcept>
+
+// Error Check Macro
+#define ERROR_CHECK( ret )                                        \
+    if( FAILED( ret ) ){                                          \
+        std::stringstream ss;                                     \
+        ss << "failed " #ret " " << std::hex << ret << std::endl; \
+        throw std::runtime_error( ss.str().c_str() );             \
+    }
+
+// Safe Release
+template<class T>
+inline void SafeRelease( T*& rel )
+{
+    if( rel != NULL ){
+        rel->Release();
+        rel = NULL;
+    }
+}
+
+// C++ Style Line Types For OpenCV 2.x
+#if ( CV_MAJOR_VERSION < 3 )
+namespace cv{
+	enum LineTypes{
+		FILLED  = -1,
+		LINE_4  = 4,
+		LINE_8  = 8,
+		LINE_AA = 16
+	};
+}
+#endif
+
+#endif // __UTIL__
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/.vs/Kinect_V2/v15/.suo b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/.vs/Kinect_V2/v15/.suo
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diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2.sln b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2.sln
new file mode 100644
index 0000000..fcd959e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2.sln
@@ -0,0 +1,31 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 15
+VisualStudioVersion = 15.0.27703.2035
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Kinect_V2", "Kinect_V2\Kinect_V2.vcxproj", "{09BE9C83-4EF5-4AF9-BBDA-9691EFA1963B}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{09BE9C83-4EF5-4AF9-BBDA-9691EFA1963B}.Debug|x64.ActiveCfg = Debug|x64
+		{09BE9C83-4EF5-4AF9-BBDA-9691EFA1963B}.Debug|x64.Build.0 = Debug|x64
+		{09BE9C83-4EF5-4AF9-BBDA-9691EFA1963B}.Debug|x86.ActiveCfg = Debug|Win32
+		{09BE9C83-4EF5-4AF9-BBDA-9691EFA1963B}.Debug|x86.Build.0 = Debug|Win32
+		{09BE9C83-4EF5-4AF9-BBDA-9691EFA1963B}.Release|x64.ActiveCfg = Release|x64
+		{09BE9C83-4EF5-4AF9-BBDA-9691EFA1963B}.Release|x64.Build.0 = Release|x64
+		{09BE9C83-4EF5-4AF9-BBDA-9691EFA1963B}.Release|x86.ActiveCfg = Release|Win32
+		{09BE9C83-4EF5-4AF9-BBDA-9691EFA1963B}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {D9D69C7C-8CE1-408E-A1EE-F3C571E7DD06}
+	EndGlobalSection
+EndGlobal
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.cpp b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.cpp
new file mode 100644
index 0000000..f5f0977
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diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.vcxproj b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.vcxproj
new file mode 100644
index 0000000..ac46095
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.vcxproj
@@ -0,0 +1,174 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="15.0" 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>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <VCProjectVersion>15.0</VCProjectVersion>
+    <ProjectGuid>{09BE9C83-4EF5-4AF9-BBDA-9691EFA1963B}</ProjectGuid>
+    <Keyword>Win32Proj</Keyword>
+    <RootNamespace>KinectV2</RootNamespace>
+    <WindowsTargetPlatformVersion>10.0.17134.0</WindowsTargetPlatformVersion>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v141</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="Shared">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>Disabled</Optimization>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>../ros_lib;$(KINECTSDK20_DIR)\inc</AdditionalIncludeDirectories>
+      <AdditionalOptions>/Y- %(AdditionalOptions)</AdditionalOptions>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <AdditionalLibraryDirectories>$(KINECTSDK20_DIR)\Lib\x64</AdditionalLibraryDirectories>
+      <AdditionalDependencies>kinect20.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <Optimization>MaxSpeed</Optimization>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClInclude Include="ros.h" />
+    <ClInclude Include="stdafx.h" />
+    <ClInclude Include="targetver.h" />
+    <ClInclude Include="WindowsSocket.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="duration.cpp" />
+    <ClCompile Include="Kinect_V2.cpp" />
+    <ClCompile Include="stdafx.cpp">
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
+    </ClCompile>
+    <ClCompile Include="time.cpp" />
+    <ClCompile Include="WindowsSocket.cpp" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.vcxproj.filters b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.vcxproj.filters
new file mode 100644
index 0000000..e972a03
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+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.vcxproj.filters
@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;hm;inl;inc;ipp;xsd</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="stdafx.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="targetver.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="ros.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="WindowsSocket.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="stdafx.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Kinect_V2.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="duration.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="WindowsSocket.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="time.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+  </ItemGroup>
+</Project>
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.vcxproj.user b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.vcxproj.user
new file mode 100644
index 0000000..6e2aec7
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/Kinect_V2.vcxproj.user
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+</Project>
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/WindowsSocket.cpp b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/WindowsSocket.cpp
new file mode 100644
index 0000000..7a1ffed
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/WindowsSocket.cpp
@@ -0,0 +1,224 @@
+/**
+Software License Agreement (BSD)
+
+\file      WindowsSocket.cpp
+\authors   Kareem Shehata <kshehata@clearpathrobotics.com>
+\copyright Copyright (c) 2014, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "WindowsSocket.h"
+#include <string>
+#include <iostream>
+#include <winsock2.h>
+#include <ws2tcpip.h>
+
+#pragma comment(lib, "Ws2_32.lib")
+
+#define DEFAULT_PORT "11411"
+
+using std::string;
+using std::cerr;
+using std::endl;
+
+
+class WindowsSocketImpl
+{
+
+public:
+
+  WindowsSocketImpl () : mySocket (INVALID_SOCKET)
+  { }
+
+  void init (char *server_hostname)
+  {
+    WSADATA wsaData;
+    int result = WSAStartup (MAKEWORD (2, 2), &wsaData);
+    if (result)
+    {
+      // TODO: do something more useful here with the error code
+      std::cerr << "Could not initialize windows socket (" << result << ")" << std::endl;
+      return;
+    }
+
+    struct addrinfo *servers = get_server_addr (server_hostname);
+
+    if (NULL == servers)
+    {
+      WSACleanup ();
+      return;
+    }
+
+    connect_to_server (servers);
+
+    freeaddrinfo (servers);
+
+    if (INVALID_SOCKET == mySocket)
+    {
+      std::cerr << "Could not connect to server" << std::endl;
+      WSACleanup ();
+    }
+  }
+
+  int read ()
+  {
+    char data;
+    int result = recv (mySocket, &data, 1, 0);
+    if (result < 0)
+    {
+      if (WSAEWOULDBLOCK != WSAGetLastError())
+      {
+        std::cerr << "Failed to receive data from server " << WSAGetLastError() << std::endl;
+      }
+      return -1;
+    }
+    else if (result == 0)
+    {
+      std::cerr << "Connection to server closed" << std::endl;
+      return -1;
+    }
+    return (unsigned char) data;
+  }
+
+  void write (const unsigned char *data, int length)
+  {
+    int result = send (mySocket, (const char *) data, length, 0);
+    if (SOCKET_ERROR == result)
+    {
+      std::cerr << "Send failed with error " << WSAGetLastError () << std::endl;
+      closesocket (mySocket);
+      WSACleanup ();
+    }
+  }
+
+  unsigned long time ()
+  {
+    SYSTEMTIME st_now;
+    GetSystemTime (&st_now);
+    unsigned long millis = st_now.wHour * 3600000 +
+                           st_now.wMinute * 60000 + 
+                           st_now.wSecond * 1000 + 
+                           st_now.wMilliseconds;
+    return millis;
+  }
+
+protected:
+        /**
+	* Helper to get the addrinfo for the server based on a string hostname.
+	* NB: you can just pass in a const char* and C++ will automatically
+	* create the string instance for you.
+	* @param hostname the hostname to connect to. Understands "host:port"
+	* @returns pointer to addrinfo from getaddrinfo or NULL on error
+	*/
+  struct addrinfo *get_server_addr (const string & hostname)
+  {
+    int result;
+    struct addrinfo *ai_output = NULL;
+    struct addrinfo ai_input;
+
+    // split off the port number if given
+    int c = hostname.find_last_of (':');
+    string host = hostname.substr (0, c);
+    string port = (c < 0) ? DEFAULT_PORT : hostname.substr (c + 1);
+
+    ZeroMemory (&ai_input, sizeof (ai_input));
+    ai_input.ai_family = AF_UNSPEC;
+    ai_input.ai_socktype = SOCK_STREAM;
+    ai_input.ai_protocol = IPPROTO_TCP;
+
+    // Resolve the server address and port
+    result = getaddrinfo (host.c_str (), port.c_str (), &ai_input, &ai_output);
+    if (result != 0)
+    {
+      std::cerr << "Could not resolve server address (" << result << ")" << std::endl;
+      return NULL;
+    }
+    return ai_output;
+  }
+
+        /**
+	* Helper to connect the socket to a given address.
+	* @param server address of the server to connect to, linked list
+	*/
+  void connect_to_server (struct addrinfo *servers)
+  {
+    int result;
+    for (struct addrinfo * ptr = servers; ptr != NULL; ptr = ptr->ai_next)
+    {
+      mySocket = socket (ptr->ai_family, ptr->ai_socktype, ptr->ai_protocol);
+      if (INVALID_SOCKET == mySocket)
+      {
+        std::cerr << "Could not great socket " << WSAGetLastError ();
+        return;
+      }
+
+      result = connect (mySocket, ptr->ai_addr, (int) ptr->ai_addrlen);
+      if (SOCKET_ERROR == result)
+      {
+        closesocket (mySocket);
+        mySocket = INVALID_SOCKET;
+      }
+      else
+      {
+        break;
+      }
+    }
+
+    // disable nagle's algorithm
+    char value = 1;
+    setsockopt (mySocket, IPPROTO_TCP, TCP_NODELAY, &value, sizeof (value));
+    // disable blocking
+    u_long iMode = 1;
+    result = ioctlsocket (mySocket, FIONBIO, &iMode);
+    if (result)
+    {
+      std::cerr << "Could not make socket nonblocking " << result << std::endl;
+      closesocket (mySocket);
+      mySocket = INVALID_SOCKET;
+    }
+  }
+
+private:
+  SOCKET mySocket;
+};
+
+WindowsSocket::WindowsSocket ()
+{
+  impl = new WindowsSocketImpl ();
+}
+
+void WindowsSocket::init (char *server_hostname)
+{
+  impl->init (server_hostname);
+}
+
+int WindowsSocket::read ()
+{
+  return impl->read ();
+}
+
+void WindowsSocket::write (const unsigned char *data, int length)
+{
+  impl->write (data, length);
+}
+
+unsigned long WindowsSocket::time ()
+{
+  return impl->time ();
+}
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/WindowsSocket.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/WindowsSocket.h
new file mode 100644
index 0000000..ef8243a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/WindowsSocket.h
@@ -0,0 +1,51 @@
+/**
+Software License Agreement (BSD)
+
+\file      WindowsSocket.h
+\authors   Kareem Shehata <kshehata@clearpathrobotics.com>
+\copyright Copyright (c) 2014, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ROS_WINDOWS_SOCKET_H_
+#define ROS_WINDOWS_SOCKET_H_
+
+// forward declaration of the implementation class
+// this class is defined in the implementation file to abstract all of the 
+// windows specific crud. It gets in the way of the ROS libraries.
+class WindowsSocketImpl;
+
+class WindowsSocket
+{
+public:
+  WindowsSocket ();
+
+  void init (char *server_hostname);
+
+  int read ();
+
+  void write (const unsigned char *data, int length);
+
+  unsigned long time ();
+
+private:
+    WindowsSocketImpl * impl;
+};
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/duration.cpp b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/duration.cpp
new file mode 100644
index 0000000..d2dfdd6
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/duration.cpp
@@ -0,0 +1,83 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <math.h>
+#include "ros/duration.h"
+
+namespace ros
+{
+void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
+{
+  int32_t nsec_part = nsec;
+  int32_t sec_part = sec;
+
+  while (nsec_part > 1000000000L)
+  {
+    nsec_part -= 1000000000L;
+    ++sec_part;
+  }
+  while (nsec_part < 0)
+  {
+    nsec_part += 1000000000L;
+    --sec_part;
+  }
+  sec = sec_part;
+  nsec = nsec_part;
+}
+
+Duration& Duration::operator+=(const Duration &rhs)
+{
+  sec += rhs.sec;
+  nsec += rhs.nsec;
+  normalizeSecNSecSigned(sec, nsec);
+  return *this;
+}
+
+Duration& Duration::operator-=(const Duration &rhs)
+{
+  sec += -rhs.sec;
+  nsec += -rhs.nsec;
+  normalizeSecNSecSigned(sec, nsec);
+  return *this;
+}
+
+Duration& Duration::operator*=(double scale)
+{
+  sec *= scale;
+  nsec *= scale;
+  normalizeSecNSecSigned(sec, nsec);
+  return *this;
+}
+
+}
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/ros.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/ros.h
new file mode 100644
index 0000000..1d1ab17
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/ros.h
@@ -0,0 +1,37 @@
+/**
+Software License Agreement (BSD)
+
+\file      ros.h
+\authors   Kareem Shehata <kshehata@clearpathrobotics.com>
+\copyright Copyright (c) 2014, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _ROS_H_
+#define _ROS_H_
+
+#include "WindowsSocket.h"
+#include "ros/node_handle.h"
+
+namespace ros
+{
+typedef NodeHandle_<WindowsSocket> NodeHandle;
+}
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/stdafx.cpp b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/stdafx.cpp
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diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/stdafx.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/stdafx.h
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index 0000000..94d4ed8
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diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/targetver.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/targetver.h
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index 0000000..567cd34
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diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/time.cpp b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/time.cpp
new file mode 100644
index 0000000..86221f9
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/time.cpp
@@ -0,0 +1,70 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "ros/time.h"
+
+namespace ros
+{
+void normalizeSecNSec(uint32_t& sec, uint32_t& nsec)
+{
+  uint32_t nsec_part = nsec % 1000000000UL;
+  uint32_t sec_part = nsec / 1000000000UL;
+  sec += sec_part;
+  nsec = nsec_part;
+}
+
+Time& Time::fromNSec(int32_t t)
+{
+  sec = t / 1000000000;
+  nsec = t % 1000000000;
+  normalizeSecNSec(sec, nsec);
+  return *this;
+}
+
+Time& Time::operator +=(const Duration &rhs)
+{
+  sec += rhs.sec;
+  nsec += rhs.nsec;
+  normalizeSecNSec(sec, nsec);
+  return *this;
+}
+
+Time& Time::operator -=(const Duration &rhs)
+{
+  sec += -rhs.sec;
+  nsec += -rhs.nsec;
+  normalizeSecNSec(sec, nsec);
+  return *this;
+}
+}
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.log b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.log
new file mode 100644
index 0000000..0511c8f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.log
@@ -0,0 +1,12 @@
+  stdafx.cpp
+  Kinect_V2.cpp
+c:\users\admin\source\repos\kinect_v2\ros_lib\rosserial_msgs\topicinfo.h(49): warning C4267: 'initializing': conversion from 'size_t' to 'uint32_t', possible loss of data
+c:\users\admin\source\repos\kinect_v2\ros_lib\rosserial_msgs\topicinfo.h(54): warning C4267: 'initializing': conversion from 'size_t' to 'uint32_t', possible loss of data
+c:\users\admin\source\repos\kinect_v2\ros_lib\rosserial_msgs\topicinfo.h(59): warning C4267: 'initializing': conversion from 'size_t' to 'uint32_t', possible loss of data
+c:\users\admin\source\repos\kinect_v2\ros_lib\rosserial_msgs\log.h(36): warning C4267: 'initializing': conversion from 'size_t' to 'uint32_t', possible loss of data
+c:\users\admin\source\repos\kinect_v2\ros_lib\rosserial_msgs\requestparam.h(27): warning C4267: 'initializing': conversion from 'size_t' to 'uint32_t', possible loss of data
+c:\users\admin\source\repos\kinect_v2\ros_lib\rosserial_msgs\requestparam.h(121): warning C4267: 'initializing': conversion from 'size_t' to 'uint32_t', possible loss of data
+c:\users\admin\source\repos\kinect_v2\ros_lib\std_msgs\header.h(48): warning C4267: 'initializing': conversion from 'size_t' to 'uint32_t', possible loss of data
+c:\users\admin\source\repos\kinect_v2\ros_lib\kinect_v2\bodyjoints.h(42): warning C4267: 'initializing': conversion from 'size_t' to 'uint32_t', possible loss of data
+c:\users\admin\source\repos\kinect_v2\kinect_v2\kinect_v2.cpp(199): warning C4715: 'get_body': not all control paths return a value
+  Kinect_V2.vcxproj -> C:\Users\admin\source\repos\Kinect_V2\x64\Debug\Kinect_V2.exe
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.obj b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.obj
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diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/CL.command.1.tlog b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/CL.command.1.tlog
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diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/CL.read.1.tlog b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/CL.read.1.tlog
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diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/CL.write.1.tlog b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/CL.write.1.tlog
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diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/Kinect_V2.lastbuildstate b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/Kinect_V2.lastbuildstate
new file mode 100644
index 0000000..7de641f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/Kinect_V2.lastbuildstate
@@ -0,0 +1,2 @@
+#TargetFrameworkVersion=v4.0:PlatformToolSet=v141:EnableManagedIncrementalBuild=false:VCToolArchitecture=Native32Bit:WindowsTargetPlatformVersion=10.0.17134.0
+Debug|x64|C:\Users\admin\source\repos\Kinect_V2\|
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/link.command.1.tlog b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/Kinect_V2/x64/Debug/Kinect_V2.tlog/link.command.1.tlog
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diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/WindowsSocket.cpp b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/WindowsSocket.cpp
new file mode 100644
index 0000000..7a1ffed
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/WindowsSocket.cpp
@@ -0,0 +1,224 @@
+/**
+Software License Agreement (BSD)
+
+\file      WindowsSocket.cpp
+\authors   Kareem Shehata <kshehata@clearpathrobotics.com>
+\copyright Copyright (c) 2014, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "WindowsSocket.h"
+#include <string>
+#include <iostream>
+#include <winsock2.h>
+#include <ws2tcpip.h>
+
+#pragma comment(lib, "Ws2_32.lib")
+
+#define DEFAULT_PORT "11411"
+
+using std::string;
+using std::cerr;
+using std::endl;
+
+
+class WindowsSocketImpl
+{
+
+public:
+
+  WindowsSocketImpl () : mySocket (INVALID_SOCKET)
+  { }
+
+  void init (char *server_hostname)
+  {
+    WSADATA wsaData;
+    int result = WSAStartup (MAKEWORD (2, 2), &wsaData);
+    if (result)
+    {
+      // TODO: do something more useful here with the error code
+      std::cerr << "Could not initialize windows socket (" << result << ")" << std::endl;
+      return;
+    }
+
+    struct addrinfo *servers = get_server_addr (server_hostname);
+
+    if (NULL == servers)
+    {
+      WSACleanup ();
+      return;
+    }
+
+    connect_to_server (servers);
+
+    freeaddrinfo (servers);
+
+    if (INVALID_SOCKET == mySocket)
+    {
+      std::cerr << "Could not connect to server" << std::endl;
+      WSACleanup ();
+    }
+  }
+
+  int read ()
+  {
+    char data;
+    int result = recv (mySocket, &data, 1, 0);
+    if (result < 0)
+    {
+      if (WSAEWOULDBLOCK != WSAGetLastError())
+      {
+        std::cerr << "Failed to receive data from server " << WSAGetLastError() << std::endl;
+      }
+      return -1;
+    }
+    else if (result == 0)
+    {
+      std::cerr << "Connection to server closed" << std::endl;
+      return -1;
+    }
+    return (unsigned char) data;
+  }
+
+  void write (const unsigned char *data, int length)
+  {
+    int result = send (mySocket, (const char *) data, length, 0);
+    if (SOCKET_ERROR == result)
+    {
+      std::cerr << "Send failed with error " << WSAGetLastError () << std::endl;
+      closesocket (mySocket);
+      WSACleanup ();
+    }
+  }
+
+  unsigned long time ()
+  {
+    SYSTEMTIME st_now;
+    GetSystemTime (&st_now);
+    unsigned long millis = st_now.wHour * 3600000 +
+                           st_now.wMinute * 60000 + 
+                           st_now.wSecond * 1000 + 
+                           st_now.wMilliseconds;
+    return millis;
+  }
+
+protected:
+        /**
+	* Helper to get the addrinfo for the server based on a string hostname.
+	* NB: you can just pass in a const char* and C++ will automatically
+	* create the string instance for you.
+	* @param hostname the hostname to connect to. Understands "host:port"
+	* @returns pointer to addrinfo from getaddrinfo or NULL on error
+	*/
+  struct addrinfo *get_server_addr (const string & hostname)
+  {
+    int result;
+    struct addrinfo *ai_output = NULL;
+    struct addrinfo ai_input;
+
+    // split off the port number if given
+    int c = hostname.find_last_of (':');
+    string host = hostname.substr (0, c);
+    string port = (c < 0) ? DEFAULT_PORT : hostname.substr (c + 1);
+
+    ZeroMemory (&ai_input, sizeof (ai_input));
+    ai_input.ai_family = AF_UNSPEC;
+    ai_input.ai_socktype = SOCK_STREAM;
+    ai_input.ai_protocol = IPPROTO_TCP;
+
+    // Resolve the server address and port
+    result = getaddrinfo (host.c_str (), port.c_str (), &ai_input, &ai_output);
+    if (result != 0)
+    {
+      std::cerr << "Could not resolve server address (" << result << ")" << std::endl;
+      return NULL;
+    }
+    return ai_output;
+  }
+
+        /**
+	* Helper to connect the socket to a given address.
+	* @param server address of the server to connect to, linked list
+	*/
+  void connect_to_server (struct addrinfo *servers)
+  {
+    int result;
+    for (struct addrinfo * ptr = servers; ptr != NULL; ptr = ptr->ai_next)
+    {
+      mySocket = socket (ptr->ai_family, ptr->ai_socktype, ptr->ai_protocol);
+      if (INVALID_SOCKET == mySocket)
+      {
+        std::cerr << "Could not great socket " << WSAGetLastError ();
+        return;
+      }
+
+      result = connect (mySocket, ptr->ai_addr, (int) ptr->ai_addrlen);
+      if (SOCKET_ERROR == result)
+      {
+        closesocket (mySocket);
+        mySocket = INVALID_SOCKET;
+      }
+      else
+      {
+        break;
+      }
+    }
+
+    // disable nagle's algorithm
+    char value = 1;
+    setsockopt (mySocket, IPPROTO_TCP, TCP_NODELAY, &value, sizeof (value));
+    // disable blocking
+    u_long iMode = 1;
+    result = ioctlsocket (mySocket, FIONBIO, &iMode);
+    if (result)
+    {
+      std::cerr << "Could not make socket nonblocking " << result << std::endl;
+      closesocket (mySocket);
+      mySocket = INVALID_SOCKET;
+    }
+  }
+
+private:
+  SOCKET mySocket;
+};
+
+WindowsSocket::WindowsSocket ()
+{
+  impl = new WindowsSocketImpl ();
+}
+
+void WindowsSocket::init (char *server_hostname)
+{
+  impl->init (server_hostname);
+}
+
+int WindowsSocket::read ()
+{
+  return impl->read ();
+}
+
+void WindowsSocket::write (const unsigned char *data, int length)
+{
+  impl->write (data, length);
+}
+
+unsigned long WindowsSocket::time ()
+{
+  return impl->time ();
+}
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/WindowsSocket.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/WindowsSocket.h
new file mode 100644
index 0000000..ef8243a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/WindowsSocket.h
@@ -0,0 +1,51 @@
+/**
+Software License Agreement (BSD)
+
+\file      WindowsSocket.h
+\authors   Kareem Shehata <kshehata@clearpathrobotics.com>
+\copyright Copyright (c) 2014, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ROS_WINDOWS_SOCKET_H_
+#define ROS_WINDOWS_SOCKET_H_
+
+// forward declaration of the implementation class
+// this class is defined in the implementation file to abstract all of the 
+// windows specific crud. It gets in the way of the ROS libraries.
+class WindowsSocketImpl;
+
+class WindowsSocket
+{
+public:
+  WindowsSocket ();
+
+  void init (char *server_hostname);
+
+  int read ();
+
+  void write (const unsigned char *data, int length);
+
+  unsigned long time ();
+
+private:
+    WindowsSocketImpl * impl;
+};
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestAction.h
new file mode 100644
index 0000000..4a6042d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TestAction_h
+#define _ROS_actionlib_TestAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib/TestActionGoal.h"
+#include "actionlib/TestActionResult.h"
+#include "actionlib/TestActionFeedback.h"
+
+namespace actionlib
+{
+
+  class TestAction : public ros::Msg
+  {
+    public:
+      typedef actionlib::TestActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef actionlib::TestActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef actionlib::TestActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    TestAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestAction"; };
+    const char * getMD5(){ return "991e87a72802262dfbe5d1b3cf6efc9a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestActionFeedback.h
new file mode 100644
index 0000000..aab52af
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TestActionFeedback_h
+#define _ROS_actionlib_TestActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TestFeedback.h"
+
+namespace actionlib
+{
+
+  class TestActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef actionlib::TestFeedback _feedback_type;
+      _feedback_type feedback;
+
+    TestActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestActionFeedback"; };
+    const char * getMD5(){ return "6d3d0bf7fb3dda24779c010a9f3eb7cb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestActionGoal.h
new file mode 100644
index 0000000..6cb7402
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TestActionGoal_h
+#define _ROS_actionlib_TestActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "actionlib/TestGoal.h"
+
+namespace actionlib
+{
+
+  class TestActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef actionlib::TestGoal _goal_type;
+      _goal_type goal;
+
+    TestActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestActionGoal"; };
+    const char * getMD5(){ return "348369c5b403676156094e8c159720bf"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestActionResult.h
new file mode 100644
index 0000000..d534d0a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TestActionResult_h
+#define _ROS_actionlib_TestActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TestResult.h"
+
+namespace actionlib
+{
+
+  class TestActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef actionlib::TestResult _result_type;
+      _result_type result;
+
+    TestActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestActionResult"; };
+    const char * getMD5(){ return "3d669e3a63aa986c667ea7b0f46ce85e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestFeedback.h
new file mode 100644
index 0000000..83798cf
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestFeedback.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_actionlib_TestFeedback_h
+#define _ROS_actionlib_TestFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TestFeedback : public ros::Msg
+  {
+    public:
+      typedef int32_t _feedback_type;
+      _feedback_type feedback;
+
+    TestFeedback():
+      feedback(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_feedback;
+      u_feedback.real = this->feedback;
+      *(outbuffer + offset + 0) = (u_feedback.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_feedback.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_feedback.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_feedback.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->feedback);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_feedback;
+      u_feedback.base = 0;
+      u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->feedback = u_feedback.real;
+      offset += sizeof(this->feedback);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestFeedback"; };
+    const char * getMD5(){ return "49ceb5b32ea3af22073ede4a0328249e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestGoal.h
new file mode 100644
index 0000000..40d3a99
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestGoal.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_actionlib_TestGoal_h
+#define _ROS_actionlib_TestGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TestGoal : public ros::Msg
+  {
+    public:
+      typedef int32_t _goal_type;
+      _goal_type goal;
+
+    TestGoal():
+      goal(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_goal;
+      u_goal.real = this->goal;
+      *(outbuffer + offset + 0) = (u_goal.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_goal.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_goal.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_goal.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->goal);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_goal;
+      u_goal.base = 0;
+      u_goal.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_goal.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_goal.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_goal.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->goal = u_goal.real;
+      offset += sizeof(this->goal);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestGoal"; };
+    const char * getMD5(){ return "18df0149936b7aa95588e3862476ebde"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestAction.h
new file mode 100644
index 0000000..52a2fe9
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TestRequestAction_h
+#define _ROS_actionlib_TestRequestAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib/TestRequestActionGoal.h"
+#include "actionlib/TestRequestActionResult.h"
+#include "actionlib/TestRequestActionFeedback.h"
+
+namespace actionlib
+{
+
+  class TestRequestAction : public ros::Msg
+  {
+    public:
+      typedef actionlib::TestRequestActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef actionlib::TestRequestActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef actionlib::TestRequestActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    TestRequestAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestAction"; };
+    const char * getMD5(){ return "dc44b1f4045dbf0d1db54423b3b86b30"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestActionFeedback.h
new file mode 100644
index 0000000..0d585c0
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TestRequestActionFeedback_h
+#define _ROS_actionlib_TestRequestActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TestRequestFeedback.h"
+
+namespace actionlib
+{
+
+  class TestRequestActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef actionlib::TestRequestFeedback _feedback_type;
+      _feedback_type feedback;
+
+    TestRequestActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestActionGoal.h
new file mode 100644
index 0000000..24c6c48
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TestRequestActionGoal_h
+#define _ROS_actionlib_TestRequestActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "actionlib/TestRequestGoal.h"
+
+namespace actionlib
+{
+
+  class TestRequestActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef actionlib::TestRequestGoal _goal_type;
+      _goal_type goal;
+
+    TestRequestActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestActionGoal"; };
+    const char * getMD5(){ return "1889556d3fef88f821c7cb004e4251f3"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestActionResult.h
new file mode 100644
index 0000000..a71e715
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TestRequestActionResult_h
+#define _ROS_actionlib_TestRequestActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TestRequestResult.h"
+
+namespace actionlib
+{
+
+  class TestRequestActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef actionlib::TestRequestResult _result_type;
+      _result_type result;
+
+    TestRequestActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestActionResult"; };
+    const char * getMD5(){ return "0476d1fdf437a3a6e7d6d0e9f5561298"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestFeedback.h
new file mode 100644
index 0000000..f1fc247
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestFeedback.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_actionlib_TestRequestFeedback_h
+#define _ROS_actionlib_TestRequestFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TestRequestFeedback : public ros::Msg
+  {
+    public:
+
+    TestRequestFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestGoal.h
new file mode 100644
index 0000000..321ebd3
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestGoal.h
@@ -0,0 +1,215 @@
+#ifndef _ROS_actionlib_TestRequestGoal_h
+#define _ROS_actionlib_TestRequestGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace actionlib
+{
+
+  class TestRequestGoal : public ros::Msg
+  {
+    public:
+      typedef int32_t _terminate_status_type;
+      _terminate_status_type terminate_status;
+      typedef bool _ignore_cancel_type;
+      _ignore_cancel_type ignore_cancel;
+      typedef const char* _result_text_type;
+      _result_text_type result_text;
+      typedef int32_t _the_result_type;
+      _the_result_type the_result;
+      typedef bool _is_simple_client_type;
+      _is_simple_client_type is_simple_client;
+      typedef ros::Duration _delay_accept_type;
+      _delay_accept_type delay_accept;
+      typedef ros::Duration _delay_terminate_type;
+      _delay_terminate_type delay_terminate;
+      typedef ros::Duration _pause_status_type;
+      _pause_status_type pause_status;
+      enum { TERMINATE_SUCCESS =  0 };
+      enum { TERMINATE_ABORTED =  1 };
+      enum { TERMINATE_REJECTED =  2 };
+      enum { TERMINATE_LOSE =  3 };
+      enum { TERMINATE_DROP =  4 };
+      enum { TERMINATE_EXCEPTION =  5 };
+
+    TestRequestGoal():
+      terminate_status(0),
+      ignore_cancel(0),
+      result_text(""),
+      the_result(0),
+      is_simple_client(0),
+      delay_accept(),
+      delay_terminate(),
+      pause_status()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_terminate_status;
+      u_terminate_status.real = this->terminate_status;
+      *(outbuffer + offset + 0) = (u_terminate_status.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_terminate_status.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_terminate_status.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_terminate_status.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->terminate_status);
+      union {
+        bool real;
+        uint8_t base;
+      } u_ignore_cancel;
+      u_ignore_cancel.real = this->ignore_cancel;
+      *(outbuffer + offset + 0) = (u_ignore_cancel.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->ignore_cancel);
+      uint32_t length_result_text = strlen(this->result_text);
+      varToArr(outbuffer + offset, length_result_text);
+      offset += 4;
+      memcpy(outbuffer + offset, this->result_text, length_result_text);
+      offset += length_result_text;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_the_result;
+      u_the_result.real = this->the_result;
+      *(outbuffer + offset + 0) = (u_the_result.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_the_result.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_the_result.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_the_result.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->the_result);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_simple_client;
+      u_is_simple_client.real = this->is_simple_client;
+      *(outbuffer + offset + 0) = (u_is_simple_client.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_simple_client);
+      *(outbuffer + offset + 0) = (this->delay_accept.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->delay_accept.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->delay_accept.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->delay_accept.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delay_accept.sec);
+      *(outbuffer + offset + 0) = (this->delay_accept.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->delay_accept.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->delay_accept.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->delay_accept.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delay_accept.nsec);
+      *(outbuffer + offset + 0) = (this->delay_terminate.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->delay_terminate.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->delay_terminate.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->delay_terminate.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delay_terminate.sec);
+      *(outbuffer + offset + 0) = (this->delay_terminate.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->delay_terminate.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->delay_terminate.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->delay_terminate.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delay_terminate.nsec);
+      *(outbuffer + offset + 0) = (this->pause_status.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->pause_status.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->pause_status.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->pause_status.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pause_status.sec);
+      *(outbuffer + offset + 0) = (this->pause_status.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->pause_status.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->pause_status.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->pause_status.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pause_status.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_terminate_status;
+      u_terminate_status.base = 0;
+      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->terminate_status = u_terminate_status.real;
+      offset += sizeof(this->terminate_status);
+      union {
+        bool real;
+        uint8_t base;
+      } u_ignore_cancel;
+      u_ignore_cancel.base = 0;
+      u_ignore_cancel.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->ignore_cancel = u_ignore_cancel.real;
+      offset += sizeof(this->ignore_cancel);
+      uint32_t length_result_text;
+      arrToVar(length_result_text, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_result_text; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_result_text-1]=0;
+      this->result_text = (char *)(inbuffer + offset-1);
+      offset += length_result_text;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_the_result;
+      u_the_result.base = 0;
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->the_result = u_the_result.real;
+      offset += sizeof(this->the_result);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_simple_client;
+      u_is_simple_client.base = 0;
+      u_is_simple_client.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_simple_client = u_is_simple_client.real;
+      offset += sizeof(this->is_simple_client);
+      this->delay_accept.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->delay_accept.sec);
+      this->delay_accept.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->delay_accept.nsec);
+      this->delay_terminate.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->delay_terminate.sec);
+      this->delay_terminate.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->delay_terminate.nsec);
+      this->pause_status.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->pause_status.sec);
+      this->pause_status.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->pause_status.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestGoal"; };
+    const char * getMD5(){ return "db5d00ba98302d6c6dd3737e9a03ceea"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestResult.h
new file mode 100644
index 0000000..9788725
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestRequestResult.h
@@ -0,0 +1,80 @@
+#ifndef _ROS_actionlib_TestRequestResult_h
+#define _ROS_actionlib_TestRequestResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TestRequestResult : public ros::Msg
+  {
+    public:
+      typedef int32_t _the_result_type;
+      _the_result_type the_result;
+      typedef bool _is_simple_server_type;
+      _is_simple_server_type is_simple_server;
+
+    TestRequestResult():
+      the_result(0),
+      is_simple_server(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_the_result;
+      u_the_result.real = this->the_result;
+      *(outbuffer + offset + 0) = (u_the_result.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_the_result.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_the_result.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_the_result.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->the_result);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_simple_server;
+      u_is_simple_server.real = this->is_simple_server;
+      *(outbuffer + offset + 0) = (u_is_simple_server.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_simple_server);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_the_result;
+      u_the_result.base = 0;
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->the_result = u_the_result.real;
+      offset += sizeof(this->the_result);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_simple_server;
+      u_is_simple_server.base = 0;
+      u_is_simple_server.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_simple_server = u_is_simple_server.real;
+      offset += sizeof(this->is_simple_server);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestResult"; };
+    const char * getMD5(){ return "61c2364524499c7c5017e2f3fce7ba06"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestResult.h
new file mode 100644
index 0000000..5c9718c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TestResult.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_actionlib_TestResult_h
+#define _ROS_actionlib_TestResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TestResult : public ros::Msg
+  {
+    public:
+      typedef int32_t _result_type;
+      _result_type result;
+
+    TestResult():
+      result(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_result;
+      u_result.real = this->result;
+      *(outbuffer + offset + 0) = (u_result.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_result.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_result.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_result.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->result);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_result;
+      u_result.base = 0;
+      u_result.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_result.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_result.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_result.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->result = u_result.real;
+      offset += sizeof(this->result);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestResult"; };
+    const char * getMD5(){ return "034a8e20d6a306665e3a5b340fab3f09"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsAction.h
new file mode 100644
index 0000000..30c73cc
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TwoIntsAction_h
+#define _ROS_actionlib_TwoIntsAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib/TwoIntsActionGoal.h"
+#include "actionlib/TwoIntsActionResult.h"
+#include "actionlib/TwoIntsActionFeedback.h"
+
+namespace actionlib
+{
+
+  class TwoIntsAction : public ros::Msg
+  {
+    public:
+      typedef actionlib::TwoIntsActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef actionlib::TwoIntsActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef actionlib::TwoIntsActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    TwoIntsAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsAction"; };
+    const char * getMD5(){ return "6d1aa538c4bd6183a2dfb7fcac41ee50"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsActionFeedback.h
new file mode 100644
index 0000000..8cd4862
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TwoIntsActionFeedback_h
+#define _ROS_actionlib_TwoIntsActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TwoIntsFeedback.h"
+
+namespace actionlib
+{
+
+  class TwoIntsActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef actionlib::TwoIntsFeedback _feedback_type;
+      _feedback_type feedback;
+
+    TwoIntsActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsActionGoal.h
new file mode 100644
index 0000000..7d33c17
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TwoIntsActionGoal_h
+#define _ROS_actionlib_TwoIntsActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "actionlib/TwoIntsGoal.h"
+
+namespace actionlib
+{
+
+  class TwoIntsActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef actionlib::TwoIntsGoal _goal_type;
+      _goal_type goal;
+
+    TwoIntsActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsActionGoal"; };
+    const char * getMD5(){ return "684a2db55d6ffb8046fb9d6764ce0860"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsActionResult.h
new file mode 100644
index 0000000..e36c808
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_TwoIntsActionResult_h
+#define _ROS_actionlib_TwoIntsActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TwoIntsResult.h"
+
+namespace actionlib
+{
+
+  class TwoIntsActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef actionlib::TwoIntsResult _result_type;
+      _result_type result;
+
+    TwoIntsActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsActionResult"; };
+    const char * getMD5(){ return "3ba7dea8b8cddcae4528ade4ef74b6e7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsFeedback.h
new file mode 100644
index 0000000..3789c4d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsFeedback.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_actionlib_TwoIntsFeedback_h
+#define _ROS_actionlib_TwoIntsFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TwoIntsFeedback : public ros::Msg
+  {
+    public:
+
+    TwoIntsFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsGoal.h
new file mode 100644
index 0000000..088c6ec
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsGoal.h
@@ -0,0 +1,102 @@
+#ifndef _ROS_actionlib_TwoIntsGoal_h
+#define _ROS_actionlib_TwoIntsGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TwoIntsGoal : public ros::Msg
+  {
+    public:
+      typedef int64_t _a_type;
+      _a_type a;
+      typedef int64_t _b_type;
+      _b_type b;
+
+    TwoIntsGoal():
+      a(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_b.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_b.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_b.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_b.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsGoal"; };
+    const char * getMD5(){ return "36d09b846be0b371c5f190354dd3153e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsResult.h
new file mode 100644
index 0000000..51d3cce
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib/TwoIntsResult.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_actionlib_TwoIntsResult_h
+#define _ROS_actionlib_TwoIntsResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TwoIntsResult : public ros::Msg
+  {
+    public:
+      typedef int64_t _sum_type;
+      _sum_type sum;
+
+    TwoIntsResult():
+      sum(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.real = this->sum;
+      *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sum.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sum.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sum.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sum.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sum);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.base = 0;
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sum = u_sum.real;
+      offset += sizeof(this->sum);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsResult"; };
+    const char * getMD5(){ return "b88405221c77b1878a3cbbfff53428d7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_msgs/GoalID.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_msgs/GoalID.h
new file mode 100644
index 0000000..24391a3
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_msgs/GoalID.h
@@ -0,0 +1,79 @@
+#ifndef _ROS_actionlib_msgs_GoalID_h
+#define _ROS_actionlib_msgs_GoalID_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace actionlib_msgs
+{
+
+  class GoalID : public ros::Msg
+  {
+    public:
+      typedef ros::Time _stamp_type;
+      _stamp_type stamp;
+      typedef const char* _id_type;
+      _id_type id;
+
+    GoalID():
+      stamp(),
+      id("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.sec);
+      *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_id = strlen(this->id);
+      varToArr(outbuffer + offset, length_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->id, length_id);
+      offset += length_id;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->stamp.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.sec);
+      this->stamp.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_id;
+      arrToVar(length_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_id-1]=0;
+      this->id = (char *)(inbuffer + offset-1);
+      offset += length_id;
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_msgs/GoalID"; };
+    const char * getMD5(){ return "302881f31927c1df708a2dbab0e80ee8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_msgs/GoalStatus.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_msgs/GoalStatus.h
new file mode 100644
index 0000000..349524c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_msgs/GoalStatus.h
@@ -0,0 +1,78 @@
+#ifndef _ROS_actionlib_msgs_GoalStatus_h
+#define _ROS_actionlib_msgs_GoalStatus_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib_msgs/GoalID.h"
+
+namespace actionlib_msgs
+{
+
+  class GoalStatus : public ros::Msg
+  {
+    public:
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef uint8_t _status_type;
+      _status_type status;
+      typedef const char* _text_type;
+      _text_type text;
+      enum { PENDING =  0    };
+      enum { ACTIVE =  1    };
+      enum { PREEMPTED =  2    };
+      enum { SUCCEEDED =  3    };
+      enum { ABORTED =  4    };
+      enum { REJECTED =  5    };
+      enum { PREEMPTING =  6    };
+      enum { RECALLING =  7    };
+      enum { RECALLED =  8    };
+      enum { LOST =  9    };
+
+    GoalStatus():
+      goal_id(),
+      status(0),
+      text("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->goal_id.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->status >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->status);
+      uint32_t length_text = strlen(this->text);
+      varToArr(outbuffer + offset, length_text);
+      offset += 4;
+      memcpy(outbuffer + offset, this->text, length_text);
+      offset += length_text;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      this->status =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->status);
+      uint32_t length_text;
+      arrToVar(length_text, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_text; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_text-1]=0;
+      this->text = (char *)(inbuffer + offset-1);
+      offset += length_text;
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_msgs/GoalStatus"; };
+    const char * getMD5(){ return "d388f9b87b3c471f784434d671988d4a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_msgs/GoalStatusArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_msgs/GoalStatusArray.h
new file mode 100644
index 0000000..9e39b5f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_msgs/GoalStatusArray.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_actionlib_msgs_GoalStatusArray_h
+#define _ROS_actionlib_msgs_GoalStatusArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+
+namespace actionlib_msgs
+{
+
+  class GoalStatusArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t status_list_length;
+      typedef actionlib_msgs::GoalStatus _status_list_type;
+      _status_list_type st_status_list;
+      _status_list_type * status_list;
+
+    GoalStatusArray():
+      header(),
+      status_list_length(0), status_list(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->status_list_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->status_list_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->status_list_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->status_list_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->status_list_length);
+      for( uint32_t i = 0; i < status_list_length; i++){
+      offset += this->status_list[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t status_list_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      status_list_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      status_list_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      status_list_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->status_list_length);
+      if(status_list_lengthT > status_list_length)
+        this->status_list = (actionlib_msgs::GoalStatus*)realloc(this->status_list, status_list_lengthT * sizeof(actionlib_msgs::GoalStatus));
+      status_list_length = status_list_lengthT;
+      for( uint32_t i = 0; i < status_list_length; i++){
+      offset += this->st_status_list.deserialize(inbuffer + offset);
+        memcpy( &(this->status_list[i]), &(this->st_status_list), sizeof(actionlib_msgs::GoalStatus));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_msgs/GoalStatusArray"; };
+    const char * getMD5(){ return "8b2b82f13216d0a8ea88bd3af735e619"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingAction.h
new file mode 100644
index 0000000..16eef59
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_tutorials_AveragingAction_h
+#define _ROS_actionlib_tutorials_AveragingAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib_tutorials/AveragingActionGoal.h"
+#include "actionlib_tutorials/AveragingActionResult.h"
+#include "actionlib_tutorials/AveragingActionFeedback.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingAction : public ros::Msg
+  {
+    public:
+      typedef actionlib_tutorials::AveragingActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef actionlib_tutorials::AveragingActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef actionlib_tutorials::AveragingActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    AveragingAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingAction"; };
+    const char * getMD5(){ return "628678f2b4fa6a5951746a4a2d39e716"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingActionFeedback.h
new file mode 100644
index 0000000..e269f39
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_tutorials_AveragingActionFeedback_h
+#define _ROS_actionlib_tutorials_AveragingActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib_tutorials/AveragingFeedback.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef actionlib_tutorials::AveragingFeedback _feedback_type;
+      _feedback_type feedback;
+
+    AveragingActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingActionFeedback"; };
+    const char * getMD5(){ return "78a4a09241b1791069223ae7ebd5b16b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingActionGoal.h
new file mode 100644
index 0000000..e9f718f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_tutorials_AveragingActionGoal_h
+#define _ROS_actionlib_tutorials_AveragingActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "actionlib_tutorials/AveragingGoal.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef actionlib_tutorials::AveragingGoal _goal_type;
+      _goal_type goal;
+
+    AveragingActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingActionGoal"; };
+    const char * getMD5(){ return "1561825b734ebd6039851c501e3fb570"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingActionResult.h
new file mode 100644
index 0000000..db99e51
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_tutorials_AveragingActionResult_h
+#define _ROS_actionlib_tutorials_AveragingActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib_tutorials/AveragingResult.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef actionlib_tutorials::AveragingResult _result_type;
+      _result_type result;
+
+    AveragingActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingActionResult"; };
+    const char * getMD5(){ return "8672cb489d347580acdcd05c5d497497"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingFeedback.h
new file mode 100644
index 0000000..e71ad1f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingFeedback.h
@@ -0,0 +1,134 @@
+#ifndef _ROS_actionlib_tutorials_AveragingFeedback_h
+#define _ROS_actionlib_tutorials_AveragingFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingFeedback : public ros::Msg
+  {
+    public:
+      typedef int32_t _sample_type;
+      _sample_type sample;
+      typedef float _data_type;
+      _data_type data;
+      typedef float _mean_type;
+      _mean_type mean;
+      typedef float _std_dev_type;
+      _std_dev_type std_dev;
+
+    AveragingFeedback():
+      sample(0),
+      data(0),
+      mean(0),
+      std_dev(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sample;
+      u_sample.real = this->sample;
+      *(outbuffer + offset + 0) = (u_sample.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sample.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sample.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sample.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sample);
+      union {
+        float real;
+        uint32_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data);
+      union {
+        float real;
+        uint32_t base;
+      } u_mean;
+      u_mean.real = this->mean;
+      *(outbuffer + offset + 0) = (u_mean.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mean.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mean.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mean.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->mean);
+      union {
+        float real;
+        uint32_t base;
+      } u_std_dev;
+      u_std_dev.real = this->std_dev;
+      *(outbuffer + offset + 0) = (u_std_dev.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_std_dev.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_std_dev.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_std_dev.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->std_dev);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sample;
+      u_sample.base = 0;
+      u_sample.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sample.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sample.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sample.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->sample = u_sample.real;
+      offset += sizeof(this->sample);
+      union {
+        float real;
+        uint32_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+      union {
+        float real;
+        uint32_t base;
+      } u_mean;
+      u_mean.base = 0;
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->mean = u_mean.real;
+      offset += sizeof(this->mean);
+      union {
+        float real;
+        uint32_t base;
+      } u_std_dev;
+      u_std_dev.base = 0;
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->std_dev = u_std_dev.real;
+      offset += sizeof(this->std_dev);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingFeedback"; };
+    const char * getMD5(){ return "9e8dfc53c2f2a032ca33fa80ec46fd4f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingGoal.h
new file mode 100644
index 0000000..e1cc2ad
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingGoal.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_actionlib_tutorials_AveragingGoal_h
+#define _ROS_actionlib_tutorials_AveragingGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingGoal : public ros::Msg
+  {
+    public:
+      typedef int32_t _samples_type;
+      _samples_type samples;
+
+    AveragingGoal():
+      samples(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_samples;
+      u_samples.real = this->samples;
+      *(outbuffer + offset + 0) = (u_samples.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_samples.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_samples.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_samples.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->samples);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_samples;
+      u_samples.base = 0;
+      u_samples.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_samples.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_samples.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_samples.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->samples = u_samples.real;
+      offset += sizeof(this->samples);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingGoal"; };
+    const char * getMD5(){ return "32c9b10ef9b253faa93b93f564762c8f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingResult.h
new file mode 100644
index 0000000..e476e59
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/AveragingResult.h
@@ -0,0 +1,86 @@
+#ifndef _ROS_actionlib_tutorials_AveragingResult_h
+#define _ROS_actionlib_tutorials_AveragingResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingResult : public ros::Msg
+  {
+    public:
+      typedef float _mean_type;
+      _mean_type mean;
+      typedef float _std_dev_type;
+      _std_dev_type std_dev;
+
+    AveragingResult():
+      mean(0),
+      std_dev(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_mean;
+      u_mean.real = this->mean;
+      *(outbuffer + offset + 0) = (u_mean.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mean.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mean.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mean.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->mean);
+      union {
+        float real;
+        uint32_t base;
+      } u_std_dev;
+      u_std_dev.real = this->std_dev;
+      *(outbuffer + offset + 0) = (u_std_dev.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_std_dev.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_std_dev.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_std_dev.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->std_dev);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_mean;
+      u_mean.base = 0;
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->mean = u_mean.real;
+      offset += sizeof(this->mean);
+      union {
+        float real;
+        uint32_t base;
+      } u_std_dev;
+      u_std_dev.base = 0;
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->std_dev = u_std_dev.real;
+      offset += sizeof(this->std_dev);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingResult"; };
+    const char * getMD5(){ return "d5c7decf6df75ffb4367a05c1bcc7612"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciAction.h
new file mode 100644
index 0000000..2fd1c63
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciAction_h
+#define _ROS_actionlib_tutorials_FibonacciAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib_tutorials/FibonacciActionGoal.h"
+#include "actionlib_tutorials/FibonacciActionResult.h"
+#include "actionlib_tutorials/FibonacciActionFeedback.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciAction : public ros::Msg
+  {
+    public:
+      typedef actionlib_tutorials::FibonacciActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef actionlib_tutorials::FibonacciActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef actionlib_tutorials::FibonacciActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    FibonacciAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciAction"; };
+    const char * getMD5(){ return "f59df5767bf7634684781c92598b2406"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciActionFeedback.h
new file mode 100644
index 0000000..241ebad
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciActionFeedback_h
+#define _ROS_actionlib_tutorials_FibonacciActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib_tutorials/FibonacciFeedback.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef actionlib_tutorials::FibonacciFeedback _feedback_type;
+      _feedback_type feedback;
+
+    FibonacciActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciActionFeedback"; };
+    const char * getMD5(){ return "73b8497a9f629a31c0020900e4148f07"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciActionGoal.h
new file mode 100644
index 0000000..dd13617
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciActionGoal_h
+#define _ROS_actionlib_tutorials_FibonacciActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "actionlib_tutorials/FibonacciGoal.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef actionlib_tutorials::FibonacciGoal _goal_type;
+      _goal_type goal;
+
+    FibonacciActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciActionGoal"; };
+    const char * getMD5(){ return "006871c7fa1d0e3d5fe2226bf17b2a94"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciActionResult.h
new file mode 100644
index 0000000..35c9d48
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciActionResult_h
+#define _ROS_actionlib_tutorials_FibonacciActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib_tutorials/FibonacciResult.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef actionlib_tutorials::FibonacciResult _result_type;
+      _result_type result;
+
+    FibonacciActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciActionResult"; };
+    const char * getMD5(){ return "bee73a9fe29ae25e966e105f5553dd03"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciFeedback.h
new file mode 100644
index 0000000..87eaf8f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciFeedback.h
@@ -0,0 +1,82 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciFeedback_h
+#define _ROS_actionlib_tutorials_FibonacciFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciFeedback : public ros::Msg
+  {
+    public:
+      uint32_t sequence_length;
+      typedef int32_t _sequence_type;
+      _sequence_type st_sequence;
+      _sequence_type * sequence;
+
+    FibonacciFeedback():
+      sequence_length(0), sequence(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->sequence_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->sequence_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->sequence_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->sequence_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sequence_length);
+      for( uint32_t i = 0; i < sequence_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sequencei;
+      u_sequencei.real = this->sequence[i];
+      *(outbuffer + offset + 0) = (u_sequencei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sequencei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sequencei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sequencei.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sequence[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t sequence_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->sequence_length);
+      if(sequence_lengthT > sequence_length)
+        this->sequence = (int32_t*)realloc(this->sequence, sequence_lengthT * sizeof(int32_t));
+      sequence_length = sequence_lengthT;
+      for( uint32_t i = 0; i < sequence_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_sequence;
+      u_st_sequence.base = 0;
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_sequence = u_st_sequence.real;
+      offset += sizeof(this->st_sequence);
+        memcpy( &(this->sequence[i]), &(this->st_sequence), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciFeedback"; };
+    const char * getMD5(){ return "b81e37d2a31925a0e8ae261a8699cb79"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciGoal.h
new file mode 100644
index 0000000..e711de1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciGoal.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciGoal_h
+#define _ROS_actionlib_tutorials_FibonacciGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciGoal : public ros::Msg
+  {
+    public:
+      typedef int32_t _order_type;
+      _order_type order;
+
+    FibonacciGoal():
+      order(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_order;
+      u_order.real = this->order;
+      *(outbuffer + offset + 0) = (u_order.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_order.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_order.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_order.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->order);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_order;
+      u_order.base = 0;
+      u_order.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_order.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_order.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_order.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->order = u_order.real;
+      offset += sizeof(this->order);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciGoal"; };
+    const char * getMD5(){ return "6889063349a00b249bd1661df429d822"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciResult.h
new file mode 100644
index 0000000..dc71023
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/actionlib_tutorials/FibonacciResult.h
@@ -0,0 +1,82 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciResult_h
+#define _ROS_actionlib_tutorials_FibonacciResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciResult : public ros::Msg
+  {
+    public:
+      uint32_t sequence_length;
+      typedef int32_t _sequence_type;
+      _sequence_type st_sequence;
+      _sequence_type * sequence;
+
+    FibonacciResult():
+      sequence_length(0), sequence(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->sequence_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->sequence_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->sequence_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->sequence_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sequence_length);
+      for( uint32_t i = 0; i < sequence_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sequencei;
+      u_sequencei.real = this->sequence[i];
+      *(outbuffer + offset + 0) = (u_sequencei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sequencei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sequencei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sequencei.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sequence[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t sequence_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->sequence_length);
+      if(sequence_lengthT > sequence_length)
+        this->sequence = (int32_t*)realloc(this->sequence, sequence_lengthT * sizeof(int32_t));
+      sequence_length = sequence_lengthT;
+      for( uint32_t i = 0; i < sequence_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_sequence;
+      u_st_sequence.base = 0;
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_sequence = u_st_sequence.real;
+      offset += sizeof(this->st_sequence);
+        memcpy( &(this->sequence[i]), &(this->st_sequence), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciResult"; };
+    const char * getMD5(){ return "b81e37d2a31925a0e8ae261a8699cb79"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/beginner_tutorials/AddTwoInts.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/beginner_tutorials/AddTwoInts.h
new file mode 100644
index 0000000..6cc3372
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/beginner_tutorials/AddTwoInts.h
@@ -0,0 +1,166 @@
+#ifndef _ROS_SERVICE_AddTwoInts_h
+#define _ROS_SERVICE_AddTwoInts_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace beginner_tutorials
+{
+
+static const char ADDTWOINTS[] = "beginner_tutorials/AddTwoInts";
+
+  class AddTwoIntsRequest : public ros::Msg
+  {
+    public:
+      typedef int64_t _a_type;
+      _a_type a;
+      typedef int64_t _b_type;
+      _b_type b;
+
+    AddTwoIntsRequest():
+      a(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_b.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_b.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_b.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_b.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return ADDTWOINTS; };
+    const char * getMD5(){ return "36d09b846be0b371c5f190354dd3153e"; };
+
+  };
+
+  class AddTwoIntsResponse : public ros::Msg
+  {
+    public:
+      typedef int64_t _sum_type;
+      _sum_type sum;
+
+    AddTwoIntsResponse():
+      sum(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.real = this->sum;
+      *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sum.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sum.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sum.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sum.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sum);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.base = 0;
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sum = u_sum.real;
+      offset += sizeof(this->sum);
+     return offset;
+    }
+
+    const char * getType(){ return ADDTWOINTS; };
+    const char * getMD5(){ return "b88405221c77b1878a3cbbfff53428d7"; };
+
+  };
+
+  class AddTwoInts {
+    public:
+    typedef AddTwoIntsRequest Request;
+    typedef AddTwoIntsResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/bond/Constants.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/bond/Constants.h
new file mode 100644
index 0000000..9594342
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/bond/Constants.h
@@ -0,0 +1,44 @@
+#ifndef _ROS_bond_Constants_h
+#define _ROS_bond_Constants_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace bond
+{
+
+  class Constants : public ros::Msg
+  {
+    public:
+      enum { DEAD_PUBLISH_PERIOD =  0.05 };
+      enum { DEFAULT_CONNECT_TIMEOUT =  10.0 };
+      enum { DEFAULT_HEARTBEAT_TIMEOUT =  4.0 };
+      enum { DEFAULT_DISCONNECT_TIMEOUT =  2.0 };
+      enum { DEFAULT_HEARTBEAT_PERIOD =  1.0 };
+      enum { DISABLE_HEARTBEAT_TIMEOUT_PARAM = /bond_disable_heartbeat_timeout };
+
+    Constants()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "bond/Constants"; };
+    const char * getMD5(){ return "6fc594dc1d7bd7919077042712f8c8b0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/bond/Status.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/bond/Status.h
new file mode 100644
index 0000000..b9fa9a5
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/bond/Status.h
@@ -0,0 +1,144 @@
+#ifndef _ROS_bond_Status_h
+#define _ROS_bond_Status_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace bond
+{
+
+  class Status : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _id_type;
+      _id_type id;
+      typedef const char* _instance_id_type;
+      _instance_id_type instance_id;
+      typedef bool _active_type;
+      _active_type active;
+      typedef float _heartbeat_timeout_type;
+      _heartbeat_timeout_type heartbeat_timeout;
+      typedef float _heartbeat_period_type;
+      _heartbeat_period_type heartbeat_period;
+
+    Status():
+      header(),
+      id(""),
+      instance_id(""),
+      active(0),
+      heartbeat_timeout(0),
+      heartbeat_period(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_id = strlen(this->id);
+      varToArr(outbuffer + offset, length_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->id, length_id);
+      offset += length_id;
+      uint32_t length_instance_id = strlen(this->instance_id);
+      varToArr(outbuffer + offset, length_instance_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->instance_id, length_instance_id);
+      offset += length_instance_id;
+      union {
+        bool real;
+        uint8_t base;
+      } u_active;
+      u_active.real = this->active;
+      *(outbuffer + offset + 0) = (u_active.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->active);
+      union {
+        float real;
+        uint32_t base;
+      } u_heartbeat_timeout;
+      u_heartbeat_timeout.real = this->heartbeat_timeout;
+      *(outbuffer + offset + 0) = (u_heartbeat_timeout.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_heartbeat_timeout.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_heartbeat_timeout.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_heartbeat_timeout.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->heartbeat_timeout);
+      union {
+        float real;
+        uint32_t base;
+      } u_heartbeat_period;
+      u_heartbeat_period.real = this->heartbeat_period;
+      *(outbuffer + offset + 0) = (u_heartbeat_period.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_heartbeat_period.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_heartbeat_period.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_heartbeat_period.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->heartbeat_period);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_id;
+      arrToVar(length_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_id-1]=0;
+      this->id = (char *)(inbuffer + offset-1);
+      offset += length_id;
+      uint32_t length_instance_id;
+      arrToVar(length_instance_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_instance_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_instance_id-1]=0;
+      this->instance_id = (char *)(inbuffer + offset-1);
+      offset += length_instance_id;
+      union {
+        bool real;
+        uint8_t base;
+      } u_active;
+      u_active.base = 0;
+      u_active.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->active = u_active.real;
+      offset += sizeof(this->active);
+      union {
+        float real;
+        uint32_t base;
+      } u_heartbeat_timeout;
+      u_heartbeat_timeout.base = 0;
+      u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->heartbeat_timeout = u_heartbeat_timeout.real;
+      offset += sizeof(this->heartbeat_timeout);
+      union {
+        float real;
+        uint32_t base;
+      } u_heartbeat_period;
+      u_heartbeat_period.base = 0;
+      u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->heartbeat_period = u_heartbeat_period.real;
+      offset += sizeof(this->heartbeat_period);
+     return offset;
+    }
+
+    const char * getType(){ return "bond/Status"; };
+    const char * getMD5(){ return "eacc84bf5d65b6777d4c50f463dfb9c8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryAction.h
new file mode 100644
index 0000000..ec67771
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryAction_h
+#define _ROS_control_msgs_FollowJointTrajectoryAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/FollowJointTrajectoryActionGoal.h"
+#include "control_msgs/FollowJointTrajectoryActionResult.h"
+#include "control_msgs/FollowJointTrajectoryActionFeedback.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryAction : public ros::Msg
+  {
+    public:
+      typedef control_msgs::FollowJointTrajectoryActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef control_msgs::FollowJointTrajectoryActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef control_msgs::FollowJointTrajectoryActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    FollowJointTrajectoryAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryAction"; };
+    const char * getMD5(){ return "bc4f9b743838566551c0390c65f1a248"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryActionFeedback.h
new file mode 100644
index 0000000..d5d037a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryActionFeedback_h
+#define _ROS_control_msgs_FollowJointTrajectoryActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/FollowJointTrajectoryFeedback.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef control_msgs::FollowJointTrajectoryFeedback _feedback_type;
+      _feedback_type feedback;
+
+    FollowJointTrajectoryActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryActionFeedback"; };
+    const char * getMD5(){ return "d8920dc4eae9fc107e00999cce4be641"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryActionGoal.h
new file mode 100644
index 0000000..4aa00c6
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryActionGoal_h
+#define _ROS_control_msgs_FollowJointTrajectoryActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "control_msgs/FollowJointTrajectoryGoal.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef control_msgs::FollowJointTrajectoryGoal _goal_type;
+      _goal_type goal;
+
+    FollowJointTrajectoryActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryActionGoal"; };
+    const char * getMD5(){ return "cff5c1d533bf2f82dd0138d57f4304bb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryActionResult.h
new file mode 100644
index 0000000..aa6b2b3
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryActionResult_h
+#define _ROS_control_msgs_FollowJointTrajectoryActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/FollowJointTrajectoryResult.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef control_msgs::FollowJointTrajectoryResult _result_type;
+      _result_type result;
+
+    FollowJointTrajectoryActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryActionResult"; };
+    const char * getMD5(){ return "c4fb3b000dc9da4fd99699380efcc5d9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryFeedback.h
new file mode 100644
index 0000000..6f27ecc
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryFeedback.h
@@ -0,0 +1,97 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryFeedback_h
+#define _ROS_control_msgs_FollowJointTrajectoryFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "trajectory_msgs/JointTrajectoryPoint.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t joint_names_length;
+      typedef char* _joint_names_type;
+      _joint_names_type st_joint_names;
+      _joint_names_type * joint_names;
+      typedef trajectory_msgs::JointTrajectoryPoint _desired_type;
+      _desired_type desired;
+      typedef trajectory_msgs::JointTrajectoryPoint _actual_type;
+      _actual_type actual;
+      typedef trajectory_msgs::JointTrajectoryPoint _error_type;
+      _error_type error;
+
+    FollowJointTrajectoryFeedback():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      desired(),
+      actual(),
+      error()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->joint_names_length);
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      varToArr(outbuffer + offset, length_joint_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      offset += this->desired.serialize(outbuffer + offset);
+      offset += this->actual.serialize(outbuffer + offset);
+      offset += this->error.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->joint_names_length);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      joint_names_length = joint_names_lengthT;
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      arrToVar(length_st_joint_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      offset += this->desired.deserialize(inbuffer + offset);
+      offset += this->actual.deserialize(inbuffer + offset);
+      offset += this->error.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryFeedback"; };
+    const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryGoal.h
new file mode 100644
index 0000000..1185615
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryGoal.h
@@ -0,0 +1,119 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryGoal_h
+#define _ROS_control_msgs_FollowJointTrajectoryGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "trajectory_msgs/JointTrajectory.h"
+#include "control_msgs/JointTolerance.h"
+#include "ros/duration.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryGoal : public ros::Msg
+  {
+    public:
+      typedef trajectory_msgs::JointTrajectory _trajectory_type;
+      _trajectory_type trajectory;
+      uint32_t path_tolerance_length;
+      typedef control_msgs::JointTolerance _path_tolerance_type;
+      _path_tolerance_type st_path_tolerance;
+      _path_tolerance_type * path_tolerance;
+      uint32_t goal_tolerance_length;
+      typedef control_msgs::JointTolerance _goal_tolerance_type;
+      _goal_tolerance_type st_goal_tolerance;
+      _goal_tolerance_type * goal_tolerance;
+      typedef ros::Duration _goal_time_tolerance_type;
+      _goal_time_tolerance_type goal_time_tolerance;
+
+    FollowJointTrajectoryGoal():
+      trajectory(),
+      path_tolerance_length(0), path_tolerance(NULL),
+      goal_tolerance_length(0), goal_tolerance(NULL),
+      goal_time_tolerance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->trajectory.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->path_tolerance_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->path_tolerance_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->path_tolerance_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->path_tolerance_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->path_tolerance_length);
+      for( uint32_t i = 0; i < path_tolerance_length; i++){
+      offset += this->path_tolerance[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->goal_tolerance_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->goal_tolerance_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->goal_tolerance_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->goal_tolerance_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->goal_tolerance_length);
+      for( uint32_t i = 0; i < goal_tolerance_length; i++){
+      offset += this->goal_tolerance[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->goal_time_tolerance.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->goal_time_tolerance.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->goal_time_tolerance.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->goal_time_tolerance.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->goal_time_tolerance.sec);
+      *(outbuffer + offset + 0) = (this->goal_time_tolerance.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->goal_time_tolerance.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->goal_time_tolerance.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->goal_time_tolerance.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->goal_time_tolerance.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->trajectory.deserialize(inbuffer + offset);
+      uint32_t path_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->path_tolerance_length);
+      if(path_tolerance_lengthT > path_tolerance_length)
+        this->path_tolerance = (control_msgs::JointTolerance*)realloc(this->path_tolerance, path_tolerance_lengthT * sizeof(control_msgs::JointTolerance));
+      path_tolerance_length = path_tolerance_lengthT;
+      for( uint32_t i = 0; i < path_tolerance_length; i++){
+      offset += this->st_path_tolerance.deserialize(inbuffer + offset);
+        memcpy( &(this->path_tolerance[i]), &(this->st_path_tolerance), sizeof(control_msgs::JointTolerance));
+      }
+      uint32_t goal_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->goal_tolerance_length);
+      if(goal_tolerance_lengthT > goal_tolerance_length)
+        this->goal_tolerance = (control_msgs::JointTolerance*)realloc(this->goal_tolerance, goal_tolerance_lengthT * sizeof(control_msgs::JointTolerance));
+      goal_tolerance_length = goal_tolerance_lengthT;
+      for( uint32_t i = 0; i < goal_tolerance_length; i++){
+      offset += this->st_goal_tolerance.deserialize(inbuffer + offset);
+        memcpy( &(this->goal_tolerance[i]), &(this->st_goal_tolerance), sizeof(control_msgs::JointTolerance));
+      }
+      this->goal_time_tolerance.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->goal_time_tolerance.sec);
+      this->goal_time_tolerance.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->goal_time_tolerance.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryGoal"; };
+    const char * getMD5(){ return "69636787b6ecbde4d61d711979bc7ecb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryResult.h
new file mode 100644
index 0000000..819f272
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/FollowJointTrajectoryResult.h
@@ -0,0 +1,85 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryResult_h
+#define _ROS_control_msgs_FollowJointTrajectoryResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryResult : public ros::Msg
+  {
+    public:
+      typedef int32_t _error_code_type;
+      _error_code_type error_code;
+      typedef const char* _error_string_type;
+      _error_string_type error_string;
+      enum { SUCCESSFUL =  0 };
+      enum { INVALID_GOAL =  -1 };
+      enum { INVALID_JOINTS =  -2 };
+      enum { OLD_HEADER_TIMESTAMP =  -3 };
+      enum { PATH_TOLERANCE_VIOLATED =  -4 };
+      enum { GOAL_TOLERANCE_VIOLATED =  -5 };
+
+    FollowJointTrajectoryResult():
+      error_code(0),
+      error_string("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_error_code;
+      u_error_code.real = this->error_code;
+      *(outbuffer + offset + 0) = (u_error_code.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_error_code.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_error_code.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_error_code.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->error_code);
+      uint32_t length_error_string = strlen(this->error_string);
+      varToArr(outbuffer + offset, length_error_string);
+      offset += 4;
+      memcpy(outbuffer + offset, this->error_string, length_error_string);
+      offset += length_error_string;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_error_code;
+      u_error_code.base = 0;
+      u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->error_code = u_error_code.real;
+      offset += sizeof(this->error_code);
+      uint32_t length_error_string;
+      arrToVar(length_error_string, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_error_string; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_error_string-1]=0;
+      this->error_string = (char *)(inbuffer + offset-1);
+      offset += length_error_string;
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryResult"; };
+    const char * getMD5(){ return "493383b18409bfb604b4e26c676401d2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommand.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommand.h
new file mode 100644
index 0000000..0b37e5c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommand.h
@@ -0,0 +1,102 @@
+#ifndef _ROS_control_msgs_GripperCommand_h
+#define _ROS_control_msgs_GripperCommand_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class GripperCommand : public ros::Msg
+  {
+    public:
+      typedef double _position_type;
+      _position_type position;
+      typedef double _max_effort_type;
+      _max_effort_type max_effort;
+
+    GripperCommand():
+      position(0),
+      max_effort(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_effort;
+      u_max_effort.real = this->max_effort;
+      *(outbuffer + offset + 0) = (u_max_effort.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_effort.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_effort.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_effort.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_effort.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_effort.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_effort.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_effort.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_effort);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_effort;
+      u_max_effort.base = 0;
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_effort = u_max_effort.real;
+      offset += sizeof(this->max_effort);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommand"; };
+    const char * getMD5(){ return "680acaff79486f017132a7f198d40f08"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandAction.h
new file mode 100644
index 0000000..68d8356
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_GripperCommandAction_h
+#define _ROS_control_msgs_GripperCommandAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/GripperCommandActionGoal.h"
+#include "control_msgs/GripperCommandActionResult.h"
+#include "control_msgs/GripperCommandActionFeedback.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandAction : public ros::Msg
+  {
+    public:
+      typedef control_msgs::GripperCommandActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef control_msgs::GripperCommandActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef control_msgs::GripperCommandActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    GripperCommandAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandAction"; };
+    const char * getMD5(){ return "950b2a6ebe831f5d4f4ceaba3d8be01e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandActionFeedback.h
new file mode 100644
index 0000000..67f99c9
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_GripperCommandActionFeedback_h
+#define _ROS_control_msgs_GripperCommandActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/GripperCommandFeedback.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef control_msgs::GripperCommandFeedback _feedback_type;
+      _feedback_type feedback;
+
+    GripperCommandActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandActionFeedback"; };
+    const char * getMD5(){ return "653dff30c045f5e6ff3feb3409f4558d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandActionGoal.h
new file mode 100644
index 0000000..efb19d1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_GripperCommandActionGoal_h
+#define _ROS_control_msgs_GripperCommandActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "control_msgs/GripperCommandGoal.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef control_msgs::GripperCommandGoal _goal_type;
+      _goal_type goal;
+
+    GripperCommandActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandActionGoal"; };
+    const char * getMD5(){ return "aa581f648a35ed681db2ec0bf7a82bea"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandActionResult.h
new file mode 100644
index 0000000..704f18d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_GripperCommandActionResult_h
+#define _ROS_control_msgs_GripperCommandActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/GripperCommandResult.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef control_msgs::GripperCommandResult _result_type;
+      _result_type result;
+
+    GripperCommandActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandActionResult"; };
+    const char * getMD5(){ return "143702cb2df0f163c5283cedc5efc6b6"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandFeedback.h
new file mode 100644
index 0000000..15d0397
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandFeedback.h
@@ -0,0 +1,138 @@
+#ifndef _ROS_control_msgs_GripperCommandFeedback_h
+#define _ROS_control_msgs_GripperCommandFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandFeedback : public ros::Msg
+  {
+    public:
+      typedef double _position_type;
+      _position_type position;
+      typedef double _effort_type;
+      _effort_type effort;
+      typedef bool _stalled_type;
+      _stalled_type stalled;
+      typedef bool _reached_goal_type;
+      _reached_goal_type reached_goal;
+
+    GripperCommandFeedback():
+      position(0),
+      effort(0),
+      stalled(0),
+      reached_goal(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.real = this->effort;
+      *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->effort);
+      union {
+        bool real;
+        uint8_t base;
+      } u_stalled;
+      u_stalled.real = this->stalled;
+      *(outbuffer + offset + 0) = (u_stalled.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->stalled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_reached_goal;
+      u_reached_goal.real = this->reached_goal;
+      *(outbuffer + offset + 0) = (u_reached_goal.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->reached_goal);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.base = 0;
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->effort = u_effort.real;
+      offset += sizeof(this->effort);
+      union {
+        bool real;
+        uint8_t base;
+      } u_stalled;
+      u_stalled.base = 0;
+      u_stalled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->stalled = u_stalled.real;
+      offset += sizeof(this->stalled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_reached_goal;
+      u_reached_goal.base = 0;
+      u_reached_goal.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->reached_goal = u_reached_goal.real;
+      offset += sizeof(this->reached_goal);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandFeedback"; };
+    const char * getMD5(){ return "e4cbff56d3562bcf113da5a5adeef91f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandGoal.h
new file mode 100644
index 0000000..544a864
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandGoal.h
@@ -0,0 +1,44 @@
+#ifndef _ROS_control_msgs_GripperCommandGoal_h
+#define _ROS_control_msgs_GripperCommandGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/GripperCommand.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandGoal : public ros::Msg
+  {
+    public:
+      typedef control_msgs::GripperCommand _command_type;
+      _command_type command;
+
+    GripperCommandGoal():
+      command()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->command.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->command.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandGoal"; };
+    const char * getMD5(){ return "86fd82f4ddc48a4cb6856cfa69217e43"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandResult.h
new file mode 100644
index 0000000..e28b260
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/GripperCommandResult.h
@@ -0,0 +1,138 @@
+#ifndef _ROS_control_msgs_GripperCommandResult_h
+#define _ROS_control_msgs_GripperCommandResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandResult : public ros::Msg
+  {
+    public:
+      typedef double _position_type;
+      _position_type position;
+      typedef double _effort_type;
+      _effort_type effort;
+      typedef bool _stalled_type;
+      _stalled_type stalled;
+      typedef bool _reached_goal_type;
+      _reached_goal_type reached_goal;
+
+    GripperCommandResult():
+      position(0),
+      effort(0),
+      stalled(0),
+      reached_goal(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.real = this->effort;
+      *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->effort);
+      union {
+        bool real;
+        uint8_t base;
+      } u_stalled;
+      u_stalled.real = this->stalled;
+      *(outbuffer + offset + 0) = (u_stalled.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->stalled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_reached_goal;
+      u_reached_goal.real = this->reached_goal;
+      *(outbuffer + offset + 0) = (u_reached_goal.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->reached_goal);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.base = 0;
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->effort = u_effort.real;
+      offset += sizeof(this->effort);
+      union {
+        bool real;
+        uint8_t base;
+      } u_stalled;
+      u_stalled.base = 0;
+      u_stalled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->stalled = u_stalled.real;
+      offset += sizeof(this->stalled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_reached_goal;
+      u_reached_goal.base = 0;
+      u_reached_goal.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->reached_goal = u_reached_goal.real;
+      offset += sizeof(this->reached_goal);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandResult"; };
+    const char * getMD5(){ return "e4cbff56d3562bcf113da5a5adeef91f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointControllerState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointControllerState.h
new file mode 100644
index 0000000..b70ef6d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointControllerState.h
@@ -0,0 +1,382 @@
+#ifndef _ROS_control_msgs_JointControllerState_h
+#define _ROS_control_msgs_JointControllerState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace control_msgs
+{
+
+  class JointControllerState : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef double _set_point_type;
+      _set_point_type set_point;
+      typedef double _process_value_type;
+      _process_value_type process_value;
+      typedef double _process_value_dot_type;
+      _process_value_dot_type process_value_dot;
+      typedef double _error_type;
+      _error_type error;
+      typedef double _time_step_type;
+      _time_step_type time_step;
+      typedef double _command_type;
+      _command_type command;
+      typedef double _p_type;
+      _p_type p;
+      typedef double _i_type;
+      _i_type i;
+      typedef double _d_type;
+      _d_type d;
+      typedef double _i_clamp_type;
+      _i_clamp_type i_clamp;
+      typedef bool _antiwindup_type;
+      _antiwindup_type antiwindup;
+
+    JointControllerState():
+      header(),
+      set_point(0),
+      process_value(0),
+      process_value_dot(0),
+      error(0),
+      time_step(0),
+      command(0),
+      p(0),
+      i(0),
+      d(0),
+      i_clamp(0),
+      antiwindup(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_set_point;
+      u_set_point.real = this->set_point;
+      *(outbuffer + offset + 0) = (u_set_point.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_set_point.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_set_point.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_set_point.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_set_point.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_set_point.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_set_point.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_set_point.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->set_point);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value;
+      u_process_value.real = this->process_value;
+      *(outbuffer + offset + 0) = (u_process_value.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_process_value.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_process_value.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_process_value.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_process_value.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_process_value.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_process_value.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_process_value.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->process_value);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value_dot;
+      u_process_value_dot.real = this->process_value_dot;
+      *(outbuffer + offset + 0) = (u_process_value_dot.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_process_value_dot.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_process_value_dot.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_process_value_dot.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_process_value_dot.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_process_value_dot.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_process_value_dot.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_process_value_dot.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->process_value_dot);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.real = this->error;
+      *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->error);
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.real = this->time_step;
+      *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->time_step);
+      union {
+        double real;
+        uint64_t base;
+      } u_command;
+      u_command.real = this->command;
+      *(outbuffer + offset + 0) = (u_command.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_command.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_command.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_command.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_command.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_command.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_command.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_command.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->command);
+      union {
+        double real;
+        uint64_t base;
+      } u_p;
+      u_p.real = this->p;
+      *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->p);
+      union {
+        double real;
+        uint64_t base;
+      } u_i;
+      u_i.real = this->i;
+      *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->i);
+      union {
+        double real;
+        uint64_t base;
+      } u_d;
+      u_d.real = this->d;
+      *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->d);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_clamp;
+      u_i_clamp.real = this->i_clamp;
+      *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->i_clamp);
+      union {
+        bool real;
+        uint8_t base;
+      } u_antiwindup;
+      u_antiwindup.real = this->antiwindup;
+      *(outbuffer + offset + 0) = (u_antiwindup.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->antiwindup);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_set_point;
+      u_set_point.base = 0;
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->set_point = u_set_point.real;
+      offset += sizeof(this->set_point);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value;
+      u_process_value.base = 0;
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->process_value = u_process_value.real;
+      offset += sizeof(this->process_value);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value_dot;
+      u_process_value_dot.base = 0;
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->process_value_dot = u_process_value_dot.real;
+      offset += sizeof(this->process_value_dot);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.base = 0;
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->error = u_error.real;
+      offset += sizeof(this->error);
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.base = 0;
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->time_step = u_time_step.real;
+      offset += sizeof(this->time_step);
+      union {
+        double real;
+        uint64_t base;
+      } u_command;
+      u_command.base = 0;
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->command = u_command.real;
+      offset += sizeof(this->command);
+      union {
+        double real;
+        uint64_t base;
+      } u_p;
+      u_p.base = 0;
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->p = u_p.real;
+      offset += sizeof(this->p);
+      union {
+        double real;
+        uint64_t base;
+      } u_i;
+      u_i.base = 0;
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->i = u_i.real;
+      offset += sizeof(this->i);
+      union {
+        double real;
+        uint64_t base;
+      } u_d;
+      u_d.base = 0;
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->d = u_d.real;
+      offset += sizeof(this->d);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_clamp;
+      u_i_clamp.base = 0;
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->i_clamp = u_i_clamp.real;
+      offset += sizeof(this->i_clamp);
+      union {
+        bool real;
+        uint8_t base;
+      } u_antiwindup;
+      u_antiwindup.base = 0;
+      u_antiwindup.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->antiwindup = u_antiwindup.real;
+      offset += sizeof(this->antiwindup);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointControllerState"; };
+    const char * getMD5(){ return "987ad85e4756f3aef7f1e5e7fe0595d1"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTolerance.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTolerance.h
new file mode 100644
index 0000000..051971e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTolerance.h
@@ -0,0 +1,151 @@
+#ifndef _ROS_control_msgs_JointTolerance_h
+#define _ROS_control_msgs_JointTolerance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class JointTolerance : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef double _position_type;
+      _position_type position;
+      typedef double _velocity_type;
+      _velocity_type velocity;
+      typedef double _acceleration_type;
+      _acceleration_type acceleration;
+
+    JointTolerance():
+      name(""),
+      position(0),
+      velocity(0),
+      acceleration(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_velocity;
+      u_velocity.real = this->velocity;
+      *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocity);
+      union {
+        double real;
+        uint64_t base;
+      } u_acceleration;
+      u_acceleration.real = this->acceleration;
+      *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->acceleration);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_velocity;
+      u_velocity.base = 0;
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->velocity = u_velocity.real;
+      offset += sizeof(this->velocity);
+      union {
+        double real;
+        uint64_t base;
+      } u_acceleration;
+      u_acceleration.base = 0;
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->acceleration = u_acceleration.real;
+      offset += sizeof(this->acceleration);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTolerance"; };
+    const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryAction.h
new file mode 100644
index 0000000..96bbaa4
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_JointTrajectoryAction_h
+#define _ROS_control_msgs_JointTrajectoryAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/JointTrajectoryActionGoal.h"
+#include "control_msgs/JointTrajectoryActionResult.h"
+#include "control_msgs/JointTrajectoryActionFeedback.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryAction : public ros::Msg
+  {
+    public:
+      typedef control_msgs::JointTrajectoryActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef control_msgs::JointTrajectoryActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef control_msgs::JointTrajectoryActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    JointTrajectoryAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryAction"; };
+    const char * getMD5(){ return "a04ba3ee8f6a2d0985a6aeaf23d9d7ad"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryActionFeedback.h
new file mode 100644
index 0000000..8df7fee
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_JointTrajectoryActionFeedback_h
+#define _ROS_control_msgs_JointTrajectoryActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/JointTrajectoryFeedback.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef control_msgs::JointTrajectoryFeedback _feedback_type;
+      _feedback_type feedback;
+
+    JointTrajectoryActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryActionGoal.h
new file mode 100644
index 0000000..8c432bb
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_JointTrajectoryActionGoal_h
+#define _ROS_control_msgs_JointTrajectoryActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "control_msgs/JointTrajectoryGoal.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef control_msgs::JointTrajectoryGoal _goal_type;
+      _goal_type goal;
+
+    JointTrajectoryActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryActionGoal"; };
+    const char * getMD5(){ return "a99e83ef6185f9fdd7693efe99623a86"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryActionResult.h
new file mode 100644
index 0000000..2a11d22
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_JointTrajectoryActionResult_h
+#define _ROS_control_msgs_JointTrajectoryActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/JointTrajectoryResult.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef control_msgs::JointTrajectoryResult _result_type;
+      _result_type result;
+
+    JointTrajectoryActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryActionResult"; };
+    const char * getMD5(){ return "1eb06eeff08fa7ea874431638cb52332"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryControllerState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryControllerState.h
new file mode 100644
index 0000000..148db3a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryControllerState.h
@@ -0,0 +1,97 @@
+#ifndef _ROS_control_msgs_JointTrajectoryControllerState_h
+#define _ROS_control_msgs_JointTrajectoryControllerState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "trajectory_msgs/JointTrajectoryPoint.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryControllerState : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t joint_names_length;
+      typedef char* _joint_names_type;
+      _joint_names_type st_joint_names;
+      _joint_names_type * joint_names;
+      typedef trajectory_msgs::JointTrajectoryPoint _desired_type;
+      _desired_type desired;
+      typedef trajectory_msgs::JointTrajectoryPoint _actual_type;
+      _actual_type actual;
+      typedef trajectory_msgs::JointTrajectoryPoint _error_type;
+      _error_type error;
+
+    JointTrajectoryControllerState():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      desired(),
+      actual(),
+      error()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->joint_names_length);
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      varToArr(outbuffer + offset, length_joint_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      offset += this->desired.serialize(outbuffer + offset);
+      offset += this->actual.serialize(outbuffer + offset);
+      offset += this->error.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->joint_names_length);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      joint_names_length = joint_names_lengthT;
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      arrToVar(length_st_joint_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      offset += this->desired.deserialize(inbuffer + offset);
+      offset += this->actual.deserialize(inbuffer + offset);
+      offset += this->error.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryControllerState"; };
+    const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryFeedback.h
new file mode 100644
index 0000000..9dfe808
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryFeedback.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_control_msgs_JointTrajectoryFeedback_h
+#define _ROS_control_msgs_JointTrajectoryFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryFeedback : public ros::Msg
+  {
+    public:
+
+    JointTrajectoryFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryGoal.h
new file mode 100644
index 0000000..b699132
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryGoal.h
@@ -0,0 +1,44 @@
+#ifndef _ROS_control_msgs_JointTrajectoryGoal_h
+#define _ROS_control_msgs_JointTrajectoryGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "trajectory_msgs/JointTrajectory.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryGoal : public ros::Msg
+  {
+    public:
+      typedef trajectory_msgs::JointTrajectory _trajectory_type;
+      _trajectory_type trajectory;
+
+    JointTrajectoryGoal():
+      trajectory()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->trajectory.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->trajectory.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryGoal"; };
+    const char * getMD5(){ return "2a0eff76c870e8595636c2a562ca298e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryResult.h
new file mode 100644
index 0000000..623ed9c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/JointTrajectoryResult.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_control_msgs_JointTrajectoryResult_h
+#define _ROS_control_msgs_JointTrajectoryResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryResult : public ros::Msg
+  {
+    public:
+
+    JointTrajectoryResult()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryResult"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PidState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PidState.h
new file mode 100644
index 0000000..a19ddf9
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PidState.h
@@ -0,0 +1,420 @@
+#ifndef _ROS_control_msgs_PidState_h
+#define _ROS_control_msgs_PidState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "ros/duration.h"
+
+namespace control_msgs
+{
+
+  class PidState : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef ros::Duration _timestep_type;
+      _timestep_type timestep;
+      typedef double _error_type;
+      _error_type error;
+      typedef double _error_dot_type;
+      _error_dot_type error_dot;
+      typedef double _p_error_type;
+      _p_error_type p_error;
+      typedef double _i_error_type;
+      _i_error_type i_error;
+      typedef double _d_error_type;
+      _d_error_type d_error;
+      typedef double _p_term_type;
+      _p_term_type p_term;
+      typedef double _i_term_type;
+      _i_term_type i_term;
+      typedef double _d_term_type;
+      _d_term_type d_term;
+      typedef double _i_max_type;
+      _i_max_type i_max;
+      typedef double _i_min_type;
+      _i_min_type i_min;
+      typedef double _output_type;
+      _output_type output;
+
+    PidState():
+      header(),
+      timestep(),
+      error(0),
+      error_dot(0),
+      p_error(0),
+      i_error(0),
+      d_error(0),
+      p_term(0),
+      i_term(0),
+      d_term(0),
+      i_max(0),
+      i_min(0),
+      output(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->timestep.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timestep.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timestep.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timestep.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timestep.sec);
+      *(outbuffer + offset + 0) = (this->timestep.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timestep.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timestep.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timestep.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timestep.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.real = this->error;
+      *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->error);
+      union {
+        double real;
+        uint64_t base;
+      } u_error_dot;
+      u_error_dot.real = this->error_dot;
+      *(outbuffer + offset + 0) = (u_error_dot.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_error_dot.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_error_dot.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_error_dot.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_error_dot.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_error_dot.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_error_dot.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_error_dot.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->error_dot);
+      union {
+        double real;
+        uint64_t base;
+      } u_p_error;
+      u_p_error.real = this->p_error;
+      *(outbuffer + offset + 0) = (u_p_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_p_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_p_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_p_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_p_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_p_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_p_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_p_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->p_error);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_error;
+      u_i_error.real = this->i_error;
+      *(outbuffer + offset + 0) = (u_i_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_i_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_i_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_i_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_i_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_i_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_i_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_i_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->i_error);
+      union {
+        double real;
+        uint64_t base;
+      } u_d_error;
+      u_d_error.real = this->d_error;
+      *(outbuffer + offset + 0) = (u_d_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_d_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_d_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_d_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_d_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_d_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_d_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_d_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->d_error);
+      union {
+        double real;
+        uint64_t base;
+      } u_p_term;
+      u_p_term.real = this->p_term;
+      *(outbuffer + offset + 0) = (u_p_term.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_p_term.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_p_term.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_p_term.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_p_term.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_p_term.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_p_term.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_p_term.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->p_term);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_term;
+      u_i_term.real = this->i_term;
+      *(outbuffer + offset + 0) = (u_i_term.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_i_term.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_i_term.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_i_term.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_i_term.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_i_term.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_i_term.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_i_term.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->i_term);
+      union {
+        double real;
+        uint64_t base;
+      } u_d_term;
+      u_d_term.real = this->d_term;
+      *(outbuffer + offset + 0) = (u_d_term.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_d_term.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_d_term.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_d_term.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_d_term.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_d_term.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_d_term.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_d_term.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->d_term);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_max;
+      u_i_max.real = this->i_max;
+      *(outbuffer + offset + 0) = (u_i_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_i_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_i_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_i_max.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_i_max.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_i_max.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_i_max.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_i_max.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->i_max);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_min;
+      u_i_min.real = this->i_min;
+      *(outbuffer + offset + 0) = (u_i_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_i_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_i_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_i_min.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_i_min.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_i_min.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_i_min.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_i_min.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->i_min);
+      union {
+        double real;
+        uint64_t base;
+      } u_output;
+      u_output.real = this->output;
+      *(outbuffer + offset + 0) = (u_output.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_output.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_output.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_output.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_output.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_output.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_output.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_output.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->output);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->timestep.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timestep.sec);
+      this->timestep.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timestep.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.base = 0;
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->error = u_error.real;
+      offset += sizeof(this->error);
+      union {
+        double real;
+        uint64_t base;
+      } u_error_dot;
+      u_error_dot.base = 0;
+      u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->error_dot = u_error_dot.real;
+      offset += sizeof(this->error_dot);
+      union {
+        double real;
+        uint64_t base;
+      } u_p_error;
+      u_p_error.base = 0;
+      u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->p_error = u_p_error.real;
+      offset += sizeof(this->p_error);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_error;
+      u_i_error.base = 0;
+      u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->i_error = u_i_error.real;
+      offset += sizeof(this->i_error);
+      union {
+        double real;
+        uint64_t base;
+      } u_d_error;
+      u_d_error.base = 0;
+      u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->d_error = u_d_error.real;
+      offset += sizeof(this->d_error);
+      union {
+        double real;
+        uint64_t base;
+      } u_p_term;
+      u_p_term.base = 0;
+      u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->p_term = u_p_term.real;
+      offset += sizeof(this->p_term);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_term;
+      u_i_term.base = 0;
+      u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->i_term = u_i_term.real;
+      offset += sizeof(this->i_term);
+      union {
+        double real;
+        uint64_t base;
+      } u_d_term;
+      u_d_term.base = 0;
+      u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->d_term = u_d_term.real;
+      offset += sizeof(this->d_term);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_max;
+      u_i_max.base = 0;
+      u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->i_max = u_i_max.real;
+      offset += sizeof(this->i_max);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_min;
+      u_i_min.base = 0;
+      u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->i_min = u_i_min.real;
+      offset += sizeof(this->i_min);
+      union {
+        double real;
+        uint64_t base;
+      } u_output;
+      u_output.base = 0;
+      u_output.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_output.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_output.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_output.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_output.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_output.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_output.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_output.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->output = u_output.real;
+      offset += sizeof(this->output);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PidState"; };
+    const char * getMD5(){ return "b138ec00e886c10e73f27e8712252ea6"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadAction.h
new file mode 100644
index 0000000..82ee446
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_PointHeadAction_h
+#define _ROS_control_msgs_PointHeadAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/PointHeadActionGoal.h"
+#include "control_msgs/PointHeadActionResult.h"
+#include "control_msgs/PointHeadActionFeedback.h"
+
+namespace control_msgs
+{
+
+  class PointHeadAction : public ros::Msg
+  {
+    public:
+      typedef control_msgs::PointHeadActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef control_msgs::PointHeadActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef control_msgs::PointHeadActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    PointHeadAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadAction"; };
+    const char * getMD5(){ return "7252920f1243de1b741f14f214125371"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadActionFeedback.h
new file mode 100644
index 0000000..780656b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_PointHeadActionFeedback_h
+#define _ROS_control_msgs_PointHeadActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/PointHeadFeedback.h"
+
+namespace control_msgs
+{
+
+  class PointHeadActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef control_msgs::PointHeadFeedback _feedback_type;
+      _feedback_type feedback;
+
+    PointHeadActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadActionFeedback"; };
+    const char * getMD5(){ return "33c9244957176bbba97dd641119e8460"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadActionGoal.h
new file mode 100644
index 0000000..12ae791
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_PointHeadActionGoal_h
+#define _ROS_control_msgs_PointHeadActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "control_msgs/PointHeadGoal.h"
+
+namespace control_msgs
+{
+
+  class PointHeadActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef control_msgs::PointHeadGoal _goal_type;
+      _goal_type goal;
+
+    PointHeadActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadActionGoal"; };
+    const char * getMD5(){ return "b53a8323d0ba7b310ba17a2d3a82a6b8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadActionResult.h
new file mode 100644
index 0000000..7708fe6
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_PointHeadActionResult_h
+#define _ROS_control_msgs_PointHeadActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/PointHeadResult.h"
+
+namespace control_msgs
+{
+
+  class PointHeadActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef control_msgs::PointHeadResult _result_type;
+      _result_type result;
+
+    PointHeadActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadActionResult"; };
+    const char * getMD5(){ return "1eb06eeff08fa7ea874431638cb52332"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadFeedback.h
new file mode 100644
index 0000000..beafd3e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadFeedback.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_control_msgs_PointHeadFeedback_h
+#define _ROS_control_msgs_PointHeadFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class PointHeadFeedback : public ros::Msg
+  {
+    public:
+      typedef double _pointing_angle_error_type;
+      _pointing_angle_error_type pointing_angle_error;
+
+    PointHeadFeedback():
+      pointing_angle_error(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_pointing_angle_error;
+      u_pointing_angle_error.real = this->pointing_angle_error;
+      *(outbuffer + offset + 0) = (u_pointing_angle_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pointing_angle_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pointing_angle_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pointing_angle_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_pointing_angle_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_pointing_angle_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_pointing_angle_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_pointing_angle_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->pointing_angle_error);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_pointing_angle_error;
+      u_pointing_angle_error.base = 0;
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->pointing_angle_error = u_pointing_angle_error.real;
+      offset += sizeof(this->pointing_angle_error);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadFeedback"; };
+    const char * getMD5(){ return "cce80d27fd763682da8805a73316cab4"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadGoal.h
new file mode 100644
index 0000000..4d7355c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadGoal.h
@@ -0,0 +1,123 @@
+#ifndef _ROS_control_msgs_PointHeadGoal_h
+#define _ROS_control_msgs_PointHeadGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/PointStamped.h"
+#include "geometry_msgs/Vector3.h"
+#include "ros/duration.h"
+
+namespace control_msgs
+{
+
+  class PointHeadGoal : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::PointStamped _target_type;
+      _target_type target;
+      typedef geometry_msgs::Vector3 _pointing_axis_type;
+      _pointing_axis_type pointing_axis;
+      typedef const char* _pointing_frame_type;
+      _pointing_frame_type pointing_frame;
+      typedef ros::Duration _min_duration_type;
+      _min_duration_type min_duration;
+      typedef double _max_velocity_type;
+      _max_velocity_type max_velocity;
+
+    PointHeadGoal():
+      target(),
+      pointing_axis(),
+      pointing_frame(""),
+      min_duration(),
+      max_velocity(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->target.serialize(outbuffer + offset);
+      offset += this->pointing_axis.serialize(outbuffer + offset);
+      uint32_t length_pointing_frame = strlen(this->pointing_frame);
+      varToArr(outbuffer + offset, length_pointing_frame);
+      offset += 4;
+      memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame);
+      offset += length_pointing_frame;
+      *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_duration.sec);
+      *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_duration.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_velocity;
+      u_max_velocity.real = this->max_velocity;
+      *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_velocity);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->target.deserialize(inbuffer + offset);
+      offset += this->pointing_axis.deserialize(inbuffer + offset);
+      uint32_t length_pointing_frame;
+      arrToVar(length_pointing_frame, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_pointing_frame-1]=0;
+      this->pointing_frame = (char *)(inbuffer + offset-1);
+      offset += length_pointing_frame;
+      this->min_duration.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->min_duration.sec);
+      this->min_duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->min_duration.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_velocity;
+      u_max_velocity.base = 0;
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_velocity = u_max_velocity.real;
+      offset += sizeof(this->max_velocity);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadGoal"; };
+    const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadResult.h
new file mode 100644
index 0000000..53f789e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/PointHeadResult.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_control_msgs_PointHeadResult_h
+#define _ROS_control_msgs_PointHeadResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class PointHeadResult : public ros::Msg
+  {
+    public:
+
+    PointHeadResult()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadResult"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/QueryCalibrationState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/QueryCalibrationState.h
new file mode 100644
index 0000000..0fd1a66
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/QueryCalibrationState.h
@@ -0,0 +1,88 @@
+#ifndef _ROS_SERVICE_QueryCalibrationState_h
+#define _ROS_SERVICE_QueryCalibrationState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+static const char QUERYCALIBRATIONSTATE[] = "control_msgs/QueryCalibrationState";
+
+  class QueryCalibrationStateRequest : public ros::Msg
+  {
+    public:
+
+    QueryCalibrationStateRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return QUERYCALIBRATIONSTATE; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class QueryCalibrationStateResponse : public ros::Msg
+  {
+    public:
+      typedef bool _is_calibrated_type;
+      _is_calibrated_type is_calibrated;
+
+    QueryCalibrationStateResponse():
+      is_calibrated(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_calibrated;
+      u_is_calibrated.real = this->is_calibrated;
+      *(outbuffer + offset + 0) = (u_is_calibrated.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_calibrated);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_calibrated;
+      u_is_calibrated.base = 0;
+      u_is_calibrated.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_calibrated = u_is_calibrated.real;
+      offset += sizeof(this->is_calibrated);
+     return offset;
+    }
+
+    const char * getType(){ return QUERYCALIBRATIONSTATE; };
+    const char * getMD5(){ return "28af3beedcb84986b8e470dc5470507d"; };
+
+  };
+
+  class QueryCalibrationState {
+    public:
+    typedef QueryCalibrationStateRequest Request;
+    typedef QueryCalibrationStateResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/QueryTrajectoryState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/QueryTrajectoryState.h
new file mode 100644
index 0000000..aef19a8
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/QueryTrajectoryState.h
@@ -0,0 +1,287 @@
+#ifndef _ROS_SERVICE_QueryTrajectoryState_h
+#define _ROS_SERVICE_QueryTrajectoryState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace control_msgs
+{
+
+static const char QUERYTRAJECTORYSTATE[] = "control_msgs/QueryTrajectoryState";
+
+  class QueryTrajectoryStateRequest : public ros::Msg
+  {
+    public:
+      typedef ros::Time _time_type;
+      _time_type time;
+
+    QueryTrajectoryStateRequest():
+      time()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time.sec);
+      *(outbuffer + offset + 0) = (this->time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time.sec);
+      this->time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return QUERYTRAJECTORYSTATE; };
+    const char * getMD5(){ return "556a4fb76023a469987922359d08a844"; };
+
+  };
+
+  class QueryTrajectoryStateResponse : public ros::Msg
+  {
+    public:
+      uint32_t name_length;
+      typedef char* _name_type;
+      _name_type st_name;
+      _name_type * name;
+      uint32_t position_length;
+      typedef double _position_type;
+      _position_type st_position;
+      _position_type * position;
+      uint32_t velocity_length;
+      typedef double _velocity_type;
+      _velocity_type st_velocity;
+      _velocity_type * velocity;
+      uint32_t acceleration_length;
+      typedef double _acceleration_type;
+      _acceleration_type st_acceleration;
+      _acceleration_type * acceleration;
+
+    QueryTrajectoryStateResponse():
+      name_length(0), name(NULL),
+      position_length(0), position(NULL),
+      velocity_length(0), velocity(NULL),
+      acceleration_length(0), acceleration(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->name_length);
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      varToArr(outbuffer + offset, length_namei);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->position_length);
+      for( uint32_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positioni;
+      u_positioni.real = this->position[i];
+      *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position[i]);
+      }
+      *(outbuffer + offset + 0) = (this->velocity_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->velocity_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->velocity_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->velocity_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->velocity_length);
+      for( uint32_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_velocityi;
+      u_velocityi.real = this->velocity[i];
+      *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocity[i]);
+      }
+      *(outbuffer + offset + 0) = (this->acceleration_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->acceleration_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->acceleration_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->acceleration_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->acceleration_length);
+      for( uint32_t i = 0; i < acceleration_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_accelerationi;
+      u_accelerationi.real = this->acceleration[i];
+      *(outbuffer + offset + 0) = (u_accelerationi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_accelerationi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_accelerationi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_accelerationi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_accelerationi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_accelerationi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_accelerationi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_accelerationi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->acceleration[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->name_length);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      name_length = name_lengthT;
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      arrToVar(length_st_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->position_length);
+      if(position_lengthT > position_length)
+        this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+      position_length = position_lengthT;
+      for( uint32_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_position;
+      u_st_position.base = 0;
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_position = u_st_position.real;
+      offset += sizeof(this->st_position);
+        memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+      }
+      uint32_t velocity_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->velocity_length);
+      if(velocity_lengthT > velocity_length)
+        this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
+      velocity_length = velocity_lengthT;
+      for( uint32_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_velocity;
+      u_st_velocity.base = 0;
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_velocity = u_st_velocity.real;
+      offset += sizeof(this->st_velocity);
+        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
+      }
+      uint32_t acceleration_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      acceleration_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->acceleration_length);
+      if(acceleration_lengthT > acceleration_length)
+        this->acceleration = (double*)realloc(this->acceleration, acceleration_lengthT * sizeof(double));
+      acceleration_length = acceleration_lengthT;
+      for( uint32_t i = 0; i < acceleration_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_acceleration;
+      u_st_acceleration.base = 0;
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_acceleration = u_st_acceleration.real;
+      offset += sizeof(this->st_acceleration);
+        memcpy( &(this->acceleration[i]), &(this->st_acceleration), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return QUERYTRAJECTORYSTATE; };
+    const char * getMD5(){ return "1f1a6554ad060f44d013e71868403c1a"; };
+
+  };
+
+  class QueryTrajectoryState {
+    public:
+    typedef QueryTrajectoryStateRequest Request;
+    typedef QueryTrajectoryStateResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionAction.h
new file mode 100644
index 0000000..3117ee1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_SingleJointPositionAction_h
+#define _ROS_control_msgs_SingleJointPositionAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/SingleJointPositionActionGoal.h"
+#include "control_msgs/SingleJointPositionActionResult.h"
+#include "control_msgs/SingleJointPositionActionFeedback.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionAction : public ros::Msg
+  {
+    public:
+      typedef control_msgs::SingleJointPositionActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef control_msgs::SingleJointPositionActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef control_msgs::SingleJointPositionActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    SingleJointPositionAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionAction"; };
+    const char * getMD5(){ return "c4a786b7d53e5d0983decf967a5a779e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionActionFeedback.h
new file mode 100644
index 0000000..82cba63
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_SingleJointPositionActionFeedback_h
+#define _ROS_control_msgs_SingleJointPositionActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/SingleJointPositionFeedback.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef control_msgs::SingleJointPositionFeedback _feedback_type;
+      _feedback_type feedback;
+
+    SingleJointPositionActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionActionFeedback"; };
+    const char * getMD5(){ return "3503b7cf8972f90d245850a5d8796cfa"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionActionGoal.h
new file mode 100644
index 0000000..75c7898
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_SingleJointPositionActionGoal_h
+#define _ROS_control_msgs_SingleJointPositionActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "control_msgs/SingleJointPositionGoal.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef control_msgs::SingleJointPositionGoal _goal_type;
+      _goal_type goal;
+
+    SingleJointPositionActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionActionGoal"; };
+    const char * getMD5(){ return "4b0d3d091471663e17749c1d0db90f61"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionActionResult.h
new file mode 100644
index 0000000..ef99cd8
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_control_msgs_SingleJointPositionActionResult_h
+#define _ROS_control_msgs_SingleJointPositionActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/SingleJointPositionResult.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef control_msgs::SingleJointPositionResult _result_type;
+      _result_type result;
+
+    SingleJointPositionActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionActionResult"; };
+    const char * getMD5(){ return "1eb06eeff08fa7ea874431638cb52332"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionFeedback.h
new file mode 100644
index 0000000..cbf8fa4
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionFeedback.h
@@ -0,0 +1,140 @@
+#ifndef _ROS_control_msgs_SingleJointPositionFeedback_h
+#define _ROS_control_msgs_SingleJointPositionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef double _position_type;
+      _position_type position;
+      typedef double _velocity_type;
+      _velocity_type velocity;
+      typedef double _error_type;
+      _error_type error;
+
+    SingleJointPositionFeedback():
+      header(),
+      position(0),
+      velocity(0),
+      error(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_velocity;
+      u_velocity.real = this->velocity;
+      *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocity);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.real = this->error;
+      *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->error);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_velocity;
+      u_velocity.base = 0;
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->velocity = u_velocity.real;
+      offset += sizeof(this->velocity);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.base = 0;
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->error = u_error.real;
+      offset += sizeof(this->error);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionFeedback"; };
+    const char * getMD5(){ return "8cee65610a3d08e0a1bded82f146f1fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionGoal.h
new file mode 100644
index 0000000..7261176
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionGoal.h
@@ -0,0 +1,126 @@
+#ifndef _ROS_control_msgs_SingleJointPositionGoal_h
+#define _ROS_control_msgs_SingleJointPositionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionGoal : public ros::Msg
+  {
+    public:
+      typedef double _position_type;
+      _position_type position;
+      typedef ros::Duration _min_duration_type;
+      _min_duration_type min_duration;
+      typedef double _max_velocity_type;
+      _max_velocity_type max_velocity;
+
+    SingleJointPositionGoal():
+      position(0),
+      min_duration(),
+      max_velocity(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_duration.sec);
+      *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_duration.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_velocity;
+      u_max_velocity.real = this->max_velocity;
+      *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_velocity);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      this->min_duration.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->min_duration.sec);
+      this->min_duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->min_duration.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_velocity;
+      u_max_velocity.base = 0;
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_velocity = u_max_velocity.real;
+      offset += sizeof(this->max_velocity);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionGoal"; };
+    const char * getMD5(){ return "fbaaa562a23a013fd5053e5f72cbb35c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionResult.h
new file mode 100644
index 0000000..7593425
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/control_msgs/SingleJointPositionResult.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_control_msgs_SingleJointPositionResult_h
+#define _ROS_control_msgs_SingleJointPositionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionResult : public ros::Msg
+  {
+    public:
+
+    SingleJointPositionResult()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionResult"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/AddDiagnostics.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/AddDiagnostics.h
new file mode 100644
index 0000000..4180098
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/AddDiagnostics.h
@@ -0,0 +1,122 @@
+#ifndef _ROS_SERVICE_AddDiagnostics_h
+#define _ROS_SERVICE_AddDiagnostics_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace diagnostic_msgs
+{
+
+static const char ADDDIAGNOSTICS[] = "diagnostic_msgs/AddDiagnostics";
+
+  class AddDiagnosticsRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _load_namespace_type;
+      _load_namespace_type load_namespace;
+
+    AddDiagnosticsRequest():
+      load_namespace("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_load_namespace = strlen(this->load_namespace);
+      varToArr(outbuffer + offset, length_load_namespace);
+      offset += 4;
+      memcpy(outbuffer + offset, this->load_namespace, length_load_namespace);
+      offset += length_load_namespace;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_load_namespace;
+      arrToVar(length_load_namespace, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_load_namespace; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_load_namespace-1]=0;
+      this->load_namespace = (char *)(inbuffer + offset-1);
+      offset += length_load_namespace;
+     return offset;
+    }
+
+    const char * getType(){ return ADDDIAGNOSTICS; };
+    const char * getMD5(){ return "c26cf6e164288fbc6050d74f838bcdf0"; };
+
+  };
+
+  class AddDiagnosticsResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _message_type;
+      _message_type message;
+
+    AddDiagnosticsResponse():
+      success(0),
+      message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_message = strlen(this->message);
+      varToArr(outbuffer + offset, length_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->message, length_message);
+      offset += length_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_message;
+      arrToVar(length_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_message-1]=0;
+      this->message = (char *)(inbuffer + offset-1);
+      offset += length_message;
+     return offset;
+    }
+
+    const char * getType(){ return ADDDIAGNOSTICS; };
+    const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
+
+  };
+
+  class AddDiagnostics {
+    public:
+    typedef AddDiagnosticsRequest Request;
+    typedef AddDiagnosticsResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/DiagnosticArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/DiagnosticArray.h
new file mode 100644
index 0000000..1deb743
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/DiagnosticArray.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_diagnostic_msgs_DiagnosticArray_h
+#define _ROS_diagnostic_msgs_DiagnosticArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "diagnostic_msgs/DiagnosticStatus.h"
+
+namespace diagnostic_msgs
+{
+
+  class DiagnosticArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t status_length;
+      typedef diagnostic_msgs::DiagnosticStatus _status_type;
+      _status_type st_status;
+      _status_type * status;
+
+    DiagnosticArray():
+      header(),
+      status_length(0), status(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->status_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->status_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->status_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->status_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->status_length);
+      for( uint32_t i = 0; i < status_length; i++){
+      offset += this->status[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t status_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      status_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      status_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      status_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->status_length);
+      if(status_lengthT > status_length)
+        this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
+      status_length = status_lengthT;
+      for( uint32_t i = 0; i < status_length; i++){
+      offset += this->st_status.deserialize(inbuffer + offset);
+        memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "diagnostic_msgs/DiagnosticArray"; };
+    const char * getMD5(){ return "60810da900de1dd6ddd437c3503511da"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/DiagnosticStatus.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/DiagnosticStatus.h
new file mode 100644
index 0000000..490c163
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/DiagnosticStatus.h
@@ -0,0 +1,137 @@
+#ifndef _ROS_diagnostic_msgs_DiagnosticStatus_h
+#define _ROS_diagnostic_msgs_DiagnosticStatus_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "diagnostic_msgs/KeyValue.h"
+
+namespace diagnostic_msgs
+{
+
+  class DiagnosticStatus : public ros::Msg
+  {
+    public:
+      typedef int8_t _level_type;
+      _level_type level;
+      typedef const char* _name_type;
+      _name_type name;
+      typedef const char* _message_type;
+      _message_type message;
+      typedef const char* _hardware_id_type;
+      _hardware_id_type hardware_id;
+      uint32_t values_length;
+      typedef diagnostic_msgs::KeyValue _values_type;
+      _values_type st_values;
+      _values_type * values;
+      enum { OK = 0 };
+      enum { WARN = 1 };
+      enum { ERROR = 2 };
+      enum { STALE = 3 };
+
+    DiagnosticStatus():
+      level(0),
+      name(""),
+      message(""),
+      hardware_id(""),
+      values_length(0), values(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_level;
+      u_level.real = this->level;
+      *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->level);
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_message = strlen(this->message);
+      varToArr(outbuffer + offset, length_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->message, length_message);
+      offset += length_message;
+      uint32_t length_hardware_id = strlen(this->hardware_id);
+      varToArr(outbuffer + offset, length_hardware_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->hardware_id, length_hardware_id);
+      offset += length_hardware_id;
+      *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->values_length);
+      for( uint32_t i = 0; i < values_length; i++){
+      offset += this->values[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_level;
+      u_level.base = 0;
+      u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->level = u_level.real;
+      offset += sizeof(this->level);
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_message;
+      arrToVar(length_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_message-1]=0;
+      this->message = (char *)(inbuffer + offset-1);
+      offset += length_message;
+      uint32_t length_hardware_id;
+      arrToVar(length_hardware_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_hardware_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_hardware_id-1]=0;
+      this->hardware_id = (char *)(inbuffer + offset-1);
+      offset += length_hardware_id;
+      uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->values_length);
+      if(values_lengthT > values_length)
+        this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue));
+      values_length = values_lengthT;
+      for( uint32_t i = 0; i < values_length; i++){
+      offset += this->st_values.deserialize(inbuffer + offset);
+        memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "diagnostic_msgs/DiagnosticStatus"; };
+    const char * getMD5(){ return "d0ce08bc6e5ba34c7754f563a9cabaf1"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/KeyValue.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/KeyValue.h
new file mode 100644
index 0000000..e94dd76
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/KeyValue.h
@@ -0,0 +1,72 @@
+#ifndef _ROS_diagnostic_msgs_KeyValue_h
+#define _ROS_diagnostic_msgs_KeyValue_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace diagnostic_msgs
+{
+
+  class KeyValue : public ros::Msg
+  {
+    public:
+      typedef const char* _key_type;
+      _key_type key;
+      typedef const char* _value_type;
+      _value_type value;
+
+    KeyValue():
+      key(""),
+      value("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_key = strlen(this->key);
+      varToArr(outbuffer + offset, length_key);
+      offset += 4;
+      memcpy(outbuffer + offset, this->key, length_key);
+      offset += length_key;
+      uint32_t length_value = strlen(this->value);
+      varToArr(outbuffer + offset, length_value);
+      offset += 4;
+      memcpy(outbuffer + offset, this->value, length_value);
+      offset += length_value;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_key;
+      arrToVar(length_key, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_key; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_key-1]=0;
+      this->key = (char *)(inbuffer + offset-1);
+      offset += length_key;
+      uint32_t length_value;
+      arrToVar(length_value, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_value; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_value-1]=0;
+      this->value = (char *)(inbuffer + offset-1);
+      offset += length_value;
+     return offset;
+    }
+
+    const char * getType(){ return "diagnostic_msgs/KeyValue"; };
+    const char * getMD5(){ return "cf57fdc6617a881a88c16e768132149c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/SelfTest.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/SelfTest.h
new file mode 100644
index 0000000..6687c6b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/diagnostic_msgs/SelfTest.h
@@ -0,0 +1,131 @@
+#ifndef _ROS_SERVICE_SelfTest_h
+#define _ROS_SERVICE_SelfTest_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "diagnostic_msgs/DiagnosticStatus.h"
+
+namespace diagnostic_msgs
+{
+
+static const char SELFTEST[] = "diagnostic_msgs/SelfTest";
+
+  class SelfTestRequest : public ros::Msg
+  {
+    public:
+
+    SelfTestRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SELFTEST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SelfTestResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _id_type;
+      _id_type id;
+      typedef int8_t _passed_type;
+      _passed_type passed;
+      uint32_t status_length;
+      typedef diagnostic_msgs::DiagnosticStatus _status_type;
+      _status_type st_status;
+      _status_type * status;
+
+    SelfTestResponse():
+      id(""),
+      passed(0),
+      status_length(0), status(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_id = strlen(this->id);
+      varToArr(outbuffer + offset, length_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->id, length_id);
+      offset += length_id;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_passed;
+      u_passed.real = this->passed;
+      *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->passed);
+      *(outbuffer + offset + 0) = (this->status_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->status_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->status_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->status_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->status_length);
+      for( uint32_t i = 0; i < status_length; i++){
+      offset += this->status[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_id;
+      arrToVar(length_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_id-1]=0;
+      this->id = (char *)(inbuffer + offset-1);
+      offset += length_id;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_passed;
+      u_passed.base = 0;
+      u_passed.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->passed = u_passed.real;
+      offset += sizeof(this->passed);
+      uint32_t status_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      status_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      status_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      status_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->status_length);
+      if(status_lengthT > status_length)
+        this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
+      status_length = status_lengthT;
+      for( uint32_t i = 0; i < status_length; i++){
+      offset += this->st_status.deserialize(inbuffer + offset);
+        memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return SELFTEST; };
+    const char * getMD5(){ return "ac21b1bab7ab17546986536c22eb34e9"; };
+
+  };
+
+  class SelfTest {
+    public:
+    typedef SelfTestRequest Request;
+    typedef SelfTestResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/duration.cpp b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/duration.cpp
new file mode 100644
index 0000000..d2dfdd6
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/duration.cpp
@@ -0,0 +1,83 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <math.h>
+#include "ros/duration.h"
+
+namespace ros
+{
+void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
+{
+  int32_t nsec_part = nsec;
+  int32_t sec_part = sec;
+
+  while (nsec_part > 1000000000L)
+  {
+    nsec_part -= 1000000000L;
+    ++sec_part;
+  }
+  while (nsec_part < 0)
+  {
+    nsec_part += 1000000000L;
+    --sec_part;
+  }
+  sec = sec_part;
+  nsec = nsec_part;
+}
+
+Duration& Duration::operator+=(const Duration &rhs)
+{
+  sec += rhs.sec;
+  nsec += rhs.nsec;
+  normalizeSecNSecSigned(sec, nsec);
+  return *this;
+}
+
+Duration& Duration::operator-=(const Duration &rhs)
+{
+  sec += -rhs.sec;
+  nsec += -rhs.nsec;
+  normalizeSecNSecSigned(sec, nsec);
+  return *this;
+}
+
+Duration& Duration::operator*=(double scale)
+{
+  sec *= scale;
+  nsec *= scale;
+  normalizeSecNSecSigned(sec, nsec);
+  return *this;
+}
+
+}
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/BoolParameter.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/BoolParameter.h
new file mode 100644
index 0000000..9025486
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/BoolParameter.h
@@ -0,0 +1,73 @@
+#ifndef _ROS_dynamic_reconfigure_BoolParameter_h
+#define _ROS_dynamic_reconfigure_BoolParameter_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class BoolParameter : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef bool _value_type;
+      _value_type value;
+
+    BoolParameter():
+      name(""),
+      value(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        bool real;
+        uint8_t base;
+      } u_value;
+      u_value.real = this->value;
+      *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->value);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        bool real;
+        uint8_t base;
+      } u_value;
+      u_value.base = 0;
+      u_value.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->value = u_value.real;
+      offset += sizeof(this->value);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/BoolParameter"; };
+    const char * getMD5(){ return "23f05028c1a699fb83e22401228c3a9e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/Config.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/Config.h
new file mode 100644
index 0000000..e5aca14
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/Config.h
@@ -0,0 +1,168 @@
+#ifndef _ROS_dynamic_reconfigure_Config_h
+#define _ROS_dynamic_reconfigure_Config_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "dynamic_reconfigure/BoolParameter.h"
+#include "dynamic_reconfigure/IntParameter.h"
+#include "dynamic_reconfigure/StrParameter.h"
+#include "dynamic_reconfigure/DoubleParameter.h"
+#include "dynamic_reconfigure/GroupState.h"
+
+namespace dynamic_reconfigure
+{
+
+  class Config : public ros::Msg
+  {
+    public:
+      uint32_t bools_length;
+      typedef dynamic_reconfigure::BoolParameter _bools_type;
+      _bools_type st_bools;
+      _bools_type * bools;
+      uint32_t ints_length;
+      typedef dynamic_reconfigure::IntParameter _ints_type;
+      _ints_type st_ints;
+      _ints_type * ints;
+      uint32_t strs_length;
+      typedef dynamic_reconfigure::StrParameter _strs_type;
+      _strs_type st_strs;
+      _strs_type * strs;
+      uint32_t doubles_length;
+      typedef dynamic_reconfigure::DoubleParameter _doubles_type;
+      _doubles_type st_doubles;
+      _doubles_type * doubles;
+      uint32_t groups_length;
+      typedef dynamic_reconfigure::GroupState _groups_type;
+      _groups_type st_groups;
+      _groups_type * groups;
+
+    Config():
+      bools_length(0), bools(NULL),
+      ints_length(0), ints(NULL),
+      strs_length(0), strs(NULL),
+      doubles_length(0), doubles(NULL),
+      groups_length(0), groups(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->bools_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->bools_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->bools_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->bools_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->bools_length);
+      for( uint32_t i = 0; i < bools_length; i++){
+      offset += this->bools[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->ints_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->ints_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->ints_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->ints_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->ints_length);
+      for( uint32_t i = 0; i < ints_length; i++){
+      offset += this->ints[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->strs_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->strs_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->strs_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->strs_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->strs_length);
+      for( uint32_t i = 0; i < strs_length; i++){
+      offset += this->strs[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->doubles_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->doubles_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->doubles_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->doubles_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->doubles_length);
+      for( uint32_t i = 0; i < doubles_length; i++){
+      offset += this->doubles[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->groups_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->groups_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->groups_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->groups_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->groups_length);
+      for( uint32_t i = 0; i < groups_length; i++){
+      offset += this->groups[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t bools_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      bools_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      bools_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      bools_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->bools_length);
+      if(bools_lengthT > bools_length)
+        this->bools = (dynamic_reconfigure::BoolParameter*)realloc(this->bools, bools_lengthT * sizeof(dynamic_reconfigure::BoolParameter));
+      bools_length = bools_lengthT;
+      for( uint32_t i = 0; i < bools_length; i++){
+      offset += this->st_bools.deserialize(inbuffer + offset);
+        memcpy( &(this->bools[i]), &(this->st_bools), sizeof(dynamic_reconfigure::BoolParameter));
+      }
+      uint32_t ints_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->ints_length);
+      if(ints_lengthT > ints_length)
+        this->ints = (dynamic_reconfigure::IntParameter*)realloc(this->ints, ints_lengthT * sizeof(dynamic_reconfigure::IntParameter));
+      ints_length = ints_lengthT;
+      for( uint32_t i = 0; i < ints_length; i++){
+      offset += this->st_ints.deserialize(inbuffer + offset);
+        memcpy( &(this->ints[i]), &(this->st_ints), sizeof(dynamic_reconfigure::IntParameter));
+      }
+      uint32_t strs_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      strs_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      strs_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      strs_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->strs_length);
+      if(strs_lengthT > strs_length)
+        this->strs = (dynamic_reconfigure::StrParameter*)realloc(this->strs, strs_lengthT * sizeof(dynamic_reconfigure::StrParameter));
+      strs_length = strs_lengthT;
+      for( uint32_t i = 0; i < strs_length; i++){
+      offset += this->st_strs.deserialize(inbuffer + offset);
+        memcpy( &(this->strs[i]), &(this->st_strs), sizeof(dynamic_reconfigure::StrParameter));
+      }
+      uint32_t doubles_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      doubles_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      doubles_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      doubles_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->doubles_length);
+      if(doubles_lengthT > doubles_length)
+        this->doubles = (dynamic_reconfigure::DoubleParameter*)realloc(this->doubles, doubles_lengthT * sizeof(dynamic_reconfigure::DoubleParameter));
+      doubles_length = doubles_lengthT;
+      for( uint32_t i = 0; i < doubles_length; i++){
+      offset += this->st_doubles.deserialize(inbuffer + offset);
+        memcpy( &(this->doubles[i]), &(this->st_doubles), sizeof(dynamic_reconfigure::DoubleParameter));
+      }
+      uint32_t groups_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      groups_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      groups_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      groups_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->groups_length);
+      if(groups_lengthT > groups_length)
+        this->groups = (dynamic_reconfigure::GroupState*)realloc(this->groups, groups_lengthT * sizeof(dynamic_reconfigure::GroupState));
+      groups_length = groups_lengthT;
+      for( uint32_t i = 0; i < groups_length; i++){
+      offset += this->st_groups.deserialize(inbuffer + offset);
+        memcpy( &(this->groups[i]), &(this->st_groups), sizeof(dynamic_reconfigure::GroupState));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/Config"; };
+    const char * getMD5(){ return "958f16a05573709014982821e6822580"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/ConfigDescription.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/ConfigDescription.h
new file mode 100644
index 0000000..4563bb7
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/ConfigDescription.h
@@ -0,0 +1,80 @@
+#ifndef _ROS_dynamic_reconfigure_ConfigDescription_h
+#define _ROS_dynamic_reconfigure_ConfigDescription_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "dynamic_reconfigure/Group.h"
+#include "dynamic_reconfigure/Config.h"
+
+namespace dynamic_reconfigure
+{
+
+  class ConfigDescription : public ros::Msg
+  {
+    public:
+      uint32_t groups_length;
+      typedef dynamic_reconfigure::Group _groups_type;
+      _groups_type st_groups;
+      _groups_type * groups;
+      typedef dynamic_reconfigure::Config _max_type;
+      _max_type max;
+      typedef dynamic_reconfigure::Config _min_type;
+      _min_type min;
+      typedef dynamic_reconfigure::Config _dflt_type;
+      _dflt_type dflt;
+
+    ConfigDescription():
+      groups_length(0), groups(NULL),
+      max(),
+      min(),
+      dflt()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->groups_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->groups_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->groups_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->groups_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->groups_length);
+      for( uint32_t i = 0; i < groups_length; i++){
+      offset += this->groups[i].serialize(outbuffer + offset);
+      }
+      offset += this->max.serialize(outbuffer + offset);
+      offset += this->min.serialize(outbuffer + offset);
+      offset += this->dflt.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t groups_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      groups_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      groups_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      groups_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->groups_length);
+      if(groups_lengthT > groups_length)
+        this->groups = (dynamic_reconfigure::Group*)realloc(this->groups, groups_lengthT * sizeof(dynamic_reconfigure::Group));
+      groups_length = groups_lengthT;
+      for( uint32_t i = 0; i < groups_length; i++){
+      offset += this->st_groups.deserialize(inbuffer + offset);
+        memcpy( &(this->groups[i]), &(this->st_groups), sizeof(dynamic_reconfigure::Group));
+      }
+      offset += this->max.deserialize(inbuffer + offset);
+      offset += this->min.deserialize(inbuffer + offset);
+      offset += this->dflt.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/ConfigDescription"; };
+    const char * getMD5(){ return "757ce9d44ba8ddd801bb30bc456f946f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/DoubleParameter.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/DoubleParameter.h
new file mode 100644
index 0000000..6f62e20
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/DoubleParameter.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_dynamic_reconfigure_DoubleParameter_h
+#define _ROS_dynamic_reconfigure_DoubleParameter_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class DoubleParameter : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef double _value_type;
+      _value_type value;
+
+    DoubleParameter():
+      name(""),
+      value(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_value;
+      u_value.real = this->value;
+      *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_value.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_value.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_value.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_value.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->value);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_value;
+      u_value.base = 0;
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->value = u_value.real;
+      offset += sizeof(this->value);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/DoubleParameter"; };
+    const char * getMD5(){ return "d8512f27253c0f65f928a67c329cd658"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/Group.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/Group.h
new file mode 100644
index 0000000..6f116ac
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/Group.h
@@ -0,0 +1,146 @@
+#ifndef _ROS_dynamic_reconfigure_Group_h
+#define _ROS_dynamic_reconfigure_Group_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "dynamic_reconfigure/ParamDescription.h"
+
+namespace dynamic_reconfigure
+{
+
+  class Group : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef const char* _type_type;
+      _type_type type;
+      uint32_t parameters_length;
+      typedef dynamic_reconfigure::ParamDescription _parameters_type;
+      _parameters_type st_parameters;
+      _parameters_type * parameters;
+      typedef int32_t _parent_type;
+      _parent_type parent;
+      typedef int32_t _id_type;
+      _id_type id;
+
+    Group():
+      name(""),
+      type(""),
+      parameters_length(0), parameters(NULL),
+      parent(0),
+      id(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_type = strlen(this->type);
+      varToArr(outbuffer + offset, length_type);
+      offset += 4;
+      memcpy(outbuffer + offset, this->type, length_type);
+      offset += length_type;
+      *(outbuffer + offset + 0) = (this->parameters_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->parameters_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->parameters_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->parameters_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->parameters_length);
+      for( uint32_t i = 0; i < parameters_length; i++){
+      offset += this->parameters[i].serialize(outbuffer + offset);
+      }
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_parent;
+      u_parent.real = this->parent;
+      *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->parent);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.real = this->id;
+      *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->id);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_type;
+      arrToVar(length_type, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_type-1]=0;
+      this->type = (char *)(inbuffer + offset-1);
+      offset += length_type;
+      uint32_t parameters_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      parameters_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->parameters_length);
+      if(parameters_lengthT > parameters_length)
+        this->parameters = (dynamic_reconfigure::ParamDescription*)realloc(this->parameters, parameters_lengthT * sizeof(dynamic_reconfigure::ParamDescription));
+      parameters_length = parameters_lengthT;
+      for( uint32_t i = 0; i < parameters_length; i++){
+      offset += this->st_parameters.deserialize(inbuffer + offset);
+        memcpy( &(this->parameters[i]), &(this->st_parameters), sizeof(dynamic_reconfigure::ParamDescription));
+      }
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_parent;
+      u_parent.base = 0;
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->parent = u_parent.real;
+      offset += sizeof(this->parent);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.base = 0;
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->id = u_id.real;
+      offset += sizeof(this->id);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/Group"; };
+    const char * getMD5(){ return "9e8cd9e9423c94823db3614dd8b1cf7a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/GroupState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/GroupState.h
new file mode 100644
index 0000000..7988eac
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/GroupState.h
@@ -0,0 +1,121 @@
+#ifndef _ROS_dynamic_reconfigure_GroupState_h
+#define _ROS_dynamic_reconfigure_GroupState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class GroupState : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef bool _state_type;
+      _state_type state;
+      typedef int32_t _id_type;
+      _id_type id;
+      typedef int32_t _parent_type;
+      _parent_type parent;
+
+    GroupState():
+      name(""),
+      state(0),
+      id(0),
+      parent(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        bool real;
+        uint8_t base;
+      } u_state;
+      u_state.real = this->state;
+      *(outbuffer + offset + 0) = (u_state.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->state);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.real = this->id;
+      *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_parent;
+      u_parent.real = this->parent;
+      *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->parent);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        bool real;
+        uint8_t base;
+      } u_state;
+      u_state.base = 0;
+      u_state.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->state = u_state.real;
+      offset += sizeof(this->state);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.base = 0;
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->id = u_id.real;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_parent;
+      u_parent.base = 0;
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->parent = u_parent.real;
+      offset += sizeof(this->parent);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/GroupState"; };
+    const char * getMD5(){ return "a2d87f51dc22930325041a2f8b1571f8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/IntParameter.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/IntParameter.h
new file mode 100644
index 0000000..aab4158
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/IntParameter.h
@@ -0,0 +1,79 @@
+#ifndef _ROS_dynamic_reconfigure_IntParameter_h
+#define _ROS_dynamic_reconfigure_IntParameter_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class IntParameter : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef int32_t _value_type;
+      _value_type value;
+
+    IntParameter():
+      name(""),
+      value(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_value;
+      u_value.real = this->value;
+      *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->value);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_value;
+      u_value.base = 0;
+      u_value.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_value.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_value.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_value.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->value = u_value.real;
+      offset += sizeof(this->value);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/IntParameter"; };
+    const char * getMD5(){ return "65fedc7a0cbfb8db035e46194a350bf1"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/ParamDescription.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/ParamDescription.h
new file mode 100644
index 0000000..00ac5ba
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/ParamDescription.h
@@ -0,0 +1,119 @@
+#ifndef _ROS_dynamic_reconfigure_ParamDescription_h
+#define _ROS_dynamic_reconfigure_ParamDescription_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class ParamDescription : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef const char* _type_type;
+      _type_type type;
+      typedef uint32_t _level_type;
+      _level_type level;
+      typedef const char* _description_type;
+      _description_type description;
+      typedef const char* _edit_method_type;
+      _edit_method_type edit_method;
+
+    ParamDescription():
+      name(""),
+      type(""),
+      level(0),
+      description(""),
+      edit_method("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_type = strlen(this->type);
+      varToArr(outbuffer + offset, length_type);
+      offset += 4;
+      memcpy(outbuffer + offset, this->type, length_type);
+      offset += length_type;
+      *(outbuffer + offset + 0) = (this->level >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->level >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->level >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->level >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->level);
+      uint32_t length_description = strlen(this->description);
+      varToArr(outbuffer + offset, length_description);
+      offset += 4;
+      memcpy(outbuffer + offset, this->description, length_description);
+      offset += length_description;
+      uint32_t length_edit_method = strlen(this->edit_method);
+      varToArr(outbuffer + offset, length_edit_method);
+      offset += 4;
+      memcpy(outbuffer + offset, this->edit_method, length_edit_method);
+      offset += length_edit_method;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_type;
+      arrToVar(length_type, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_type-1]=0;
+      this->type = (char *)(inbuffer + offset-1);
+      offset += length_type;
+      this->level =  ((uint32_t) (*(inbuffer + offset)));
+      this->level |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->level |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->level |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->level);
+      uint32_t length_description;
+      arrToVar(length_description, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_description; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_description-1]=0;
+      this->description = (char *)(inbuffer + offset-1);
+      offset += length_description;
+      uint32_t length_edit_method;
+      arrToVar(length_edit_method, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_edit_method; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_edit_method-1]=0;
+      this->edit_method = (char *)(inbuffer + offset-1);
+      offset += length_edit_method;
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/ParamDescription"; };
+    const char * getMD5(){ return "7434fcb9348c13054e0c3b267c8cb34d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/Reconfigure.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/Reconfigure.h
new file mode 100644
index 0000000..e4e6b79
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/Reconfigure.h
@@ -0,0 +1,81 @@
+#ifndef _ROS_SERVICE_Reconfigure_h
+#define _ROS_SERVICE_Reconfigure_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "dynamic_reconfigure/Config.h"
+
+namespace dynamic_reconfigure
+{
+
+static const char RECONFIGURE[] = "dynamic_reconfigure/Reconfigure";
+
+  class ReconfigureRequest : public ros::Msg
+  {
+    public:
+      typedef dynamic_reconfigure::Config _config_type;
+      _config_type config;
+
+    ReconfigureRequest():
+      config()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->config.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->config.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return RECONFIGURE; };
+    const char * getMD5(){ return "ac41a77620a4a0348b7001641796a8a1"; };
+
+  };
+
+  class ReconfigureResponse : public ros::Msg
+  {
+    public:
+      typedef dynamic_reconfigure::Config _config_type;
+      _config_type config;
+
+    ReconfigureResponse():
+      config()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->config.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->config.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return RECONFIGURE; };
+    const char * getMD5(){ return "ac41a77620a4a0348b7001641796a8a1"; };
+
+  };
+
+  class Reconfigure {
+    public:
+    typedef ReconfigureRequest Request;
+    typedef ReconfigureResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/SensorLevels.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/SensorLevels.h
new file mode 100644
index 0000000..8f85722
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/SensorLevels.h
@@ -0,0 +1,41 @@
+#ifndef _ROS_dynamic_reconfigure_SensorLevels_h
+#define _ROS_dynamic_reconfigure_SensorLevels_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class SensorLevels : public ros::Msg
+  {
+    public:
+      enum { RECONFIGURE_CLOSE =  3   };
+      enum { RECONFIGURE_STOP =  1   };
+      enum { RECONFIGURE_RUNNING =  0  };
+
+    SensorLevels()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/SensorLevels"; };
+    const char * getMD5(){ return "6322637bee96d5489db6e2127c47602c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/StrParameter.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/StrParameter.h
new file mode 100644
index 0000000..2e743f0
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/dynamic_reconfigure/StrParameter.h
@@ -0,0 +1,72 @@
+#ifndef _ROS_dynamic_reconfigure_StrParameter_h
+#define _ROS_dynamic_reconfigure_StrParameter_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class StrParameter : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef const char* _value_type;
+      _value_type value;
+
+    StrParameter():
+      name(""),
+      value("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_value = strlen(this->value);
+      varToArr(outbuffer + offset, length_value);
+      offset += 4;
+      memcpy(outbuffer + offset, this->value, length_value);
+      offset += length_value;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_value;
+      arrToVar(length_value, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_value; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_value-1]=0;
+      this->value = (char *)(inbuffer + offset-1);
+      offset += length_value;
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/StrParameter"; };
+    const char * getMD5(){ return "bc6ccc4a57f61779c8eaae61e9f422e0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ApplyBodyWrench.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ApplyBodyWrench.h
new file mode 100644
index 0000000..e7af6bb
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ApplyBodyWrench.h
@@ -0,0 +1,199 @@
+#ifndef _ROS_SERVICE_ApplyBodyWrench_h
+#define _ROS_SERVICE_ApplyBodyWrench_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+#include "geometry_msgs/Wrench.h"
+#include "ros/time.h"
+#include "geometry_msgs/Point.h"
+
+namespace gazebo_msgs
+{
+
+static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench";
+
+  class ApplyBodyWrenchRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _body_name_type;
+      _body_name_type body_name;
+      typedef const char* _reference_frame_type;
+      _reference_frame_type reference_frame;
+      typedef geometry_msgs::Point _reference_point_type;
+      _reference_point_type reference_point;
+      typedef geometry_msgs::Wrench _wrench_type;
+      _wrench_type wrench;
+      typedef ros::Time _start_time_type;
+      _start_time_type start_time;
+      typedef ros::Duration _duration_type;
+      _duration_type duration;
+
+    ApplyBodyWrenchRequest():
+      body_name(""),
+      reference_frame(""),
+      reference_point(),
+      wrench(),
+      start_time(),
+      duration()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_body_name = strlen(this->body_name);
+      varToArr(outbuffer + offset, length_body_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->body_name, length_body_name);
+      offset += length_body_name;
+      uint32_t length_reference_frame = strlen(this->reference_frame);
+      varToArr(outbuffer + offset, length_reference_frame);
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
+      offset += length_reference_frame;
+      offset += this->reference_point.serialize(outbuffer + offset);
+      offset += this->wrench.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->start_time.sec);
+      *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->start_time.nsec);
+      *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->duration.sec);
+      *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->duration.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_body_name;
+      arrToVar(length_body_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_body_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_body_name-1]=0;
+      this->body_name = (char *)(inbuffer + offset-1);
+      offset += length_body_name;
+      uint32_t length_reference_frame;
+      arrToVar(length_reference_frame, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame-1]=0;
+      this->reference_frame = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame;
+      offset += this->reference_point.deserialize(inbuffer + offset);
+      offset += this->wrench.deserialize(inbuffer + offset);
+      this->start_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->start_time.sec);
+      this->start_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->start_time.nsec);
+      this->duration.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->duration.sec);
+      this->duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->duration.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return APPLYBODYWRENCH; };
+    const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; };
+
+  };
+
+  class ApplyBodyWrenchResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    ApplyBodyWrenchResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return APPLYBODYWRENCH; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class ApplyBodyWrench {
+    public:
+    typedef ApplyBodyWrenchRequest Request;
+    typedef ApplyBodyWrenchResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ApplyJointEffort.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ApplyJointEffort.h
new file mode 100644
index 0000000..636084f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ApplyJointEffort.h
@@ -0,0 +1,202 @@
+#ifndef _ROS_SERVICE_ApplyJointEffort_h
+#define _ROS_SERVICE_ApplyJointEffort_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+#include "ros/time.h"
+
+namespace gazebo_msgs
+{
+
+static const char APPLYJOINTEFFORT[] = "gazebo_msgs/ApplyJointEffort";
+
+  class ApplyJointEffortRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _joint_name_type;
+      _joint_name_type joint_name;
+      typedef double _effort_type;
+      _effort_type effort;
+      typedef ros::Time _start_time_type;
+      _start_time_type start_time;
+      typedef ros::Duration _duration_type;
+      _duration_type duration;
+
+    ApplyJointEffortRequest():
+      joint_name(""),
+      effort(0),
+      start_time(),
+      duration()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_joint_name = strlen(this->joint_name);
+      varToArr(outbuffer + offset, length_joint_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
+      offset += length_joint_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.real = this->effort;
+      *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->effort);
+      *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->start_time.sec);
+      *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->start_time.nsec);
+      *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->duration.sec);
+      *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->duration.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_joint_name;
+      arrToVar(length_joint_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_joint_name-1]=0;
+      this->joint_name = (char *)(inbuffer + offset-1);
+      offset += length_joint_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.base = 0;
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->effort = u_effort.real;
+      offset += sizeof(this->effort);
+      this->start_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->start_time.sec);
+      this->start_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->start_time.nsec);
+      this->duration.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->duration.sec);
+      this->duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->duration.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return APPLYJOINTEFFORT; };
+    const char * getMD5(){ return "2c3396ab9af67a509ecd2167a8fe41a2"; };
+
+  };
+
+  class ApplyJointEffortResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    ApplyJointEffortResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return APPLYJOINTEFFORT; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class ApplyJointEffort {
+    public:
+    typedef ApplyJointEffortRequest Request;
+    typedef ApplyJointEffortResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/BodyRequest.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/BodyRequest.h
new file mode 100644
index 0000000..bb2106d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/BodyRequest.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_BodyRequest_h
+#define _ROS_SERVICE_BodyRequest_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char BODYREQUEST[] = "gazebo_msgs/BodyRequest";
+
+  class BodyRequestRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _body_name_type;
+      _body_name_type body_name;
+
+    BodyRequestRequest():
+      body_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_body_name = strlen(this->body_name);
+      varToArr(outbuffer + offset, length_body_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->body_name, length_body_name);
+      offset += length_body_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_body_name;
+      arrToVar(length_body_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_body_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_body_name-1]=0;
+      this->body_name = (char *)(inbuffer + offset-1);
+      offset += length_body_name;
+     return offset;
+    }
+
+    const char * getType(){ return BODYREQUEST; };
+    const char * getMD5(){ return "5eade9afe7f232d78005bd0cafeab755"; };
+
+  };
+
+  class BodyRequestResponse : public ros::Msg
+  {
+    public:
+
+    BodyRequestResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return BODYREQUEST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class BodyRequest {
+    public:
+    typedef BodyRequestRequest Request;
+    typedef BodyRequestResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ContactState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ContactState.h
new file mode 100644
index 0000000..a3d852d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ContactState.h
@@ -0,0 +1,223 @@
+#ifndef _ROS_gazebo_msgs_ContactState_h
+#define _ROS_gazebo_msgs_ContactState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Wrench.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace gazebo_msgs
+{
+
+  class ContactState : public ros::Msg
+  {
+    public:
+      typedef const char* _info_type;
+      _info_type info;
+      typedef const char* _collision1_name_type;
+      _collision1_name_type collision1_name;
+      typedef const char* _collision2_name_type;
+      _collision2_name_type collision2_name;
+      uint32_t wrenches_length;
+      typedef geometry_msgs::Wrench _wrenches_type;
+      _wrenches_type st_wrenches;
+      _wrenches_type * wrenches;
+      typedef geometry_msgs::Wrench _total_wrench_type;
+      _total_wrench_type total_wrench;
+      uint32_t contact_positions_length;
+      typedef geometry_msgs::Vector3 _contact_positions_type;
+      _contact_positions_type st_contact_positions;
+      _contact_positions_type * contact_positions;
+      uint32_t contact_normals_length;
+      typedef geometry_msgs::Vector3 _contact_normals_type;
+      _contact_normals_type st_contact_normals;
+      _contact_normals_type * contact_normals;
+      uint32_t depths_length;
+      typedef double _depths_type;
+      _depths_type st_depths;
+      _depths_type * depths;
+
+    ContactState():
+      info(""),
+      collision1_name(""),
+      collision2_name(""),
+      wrenches_length(0), wrenches(NULL),
+      total_wrench(),
+      contact_positions_length(0), contact_positions(NULL),
+      contact_normals_length(0), contact_normals(NULL),
+      depths_length(0), depths(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_info = strlen(this->info);
+      varToArr(outbuffer + offset, length_info);
+      offset += 4;
+      memcpy(outbuffer + offset, this->info, length_info);
+      offset += length_info;
+      uint32_t length_collision1_name = strlen(this->collision1_name);
+      varToArr(outbuffer + offset, length_collision1_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->collision1_name, length_collision1_name);
+      offset += length_collision1_name;
+      uint32_t length_collision2_name = strlen(this->collision2_name);
+      varToArr(outbuffer + offset, length_collision2_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->collision2_name, length_collision2_name);
+      offset += length_collision2_name;
+      *(outbuffer + offset + 0) = (this->wrenches_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->wrenches_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->wrenches_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->wrenches_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->wrenches_length);
+      for( uint32_t i = 0; i < wrenches_length; i++){
+      offset += this->wrenches[i].serialize(outbuffer + offset);
+      }
+      offset += this->total_wrench.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->contact_positions_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->contact_positions_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->contact_positions_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->contact_positions_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->contact_positions_length);
+      for( uint32_t i = 0; i < contact_positions_length; i++){
+      offset += this->contact_positions[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->contact_normals_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->contact_normals_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->contact_normals_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->contact_normals_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->contact_normals_length);
+      for( uint32_t i = 0; i < contact_normals_length; i++){
+      offset += this->contact_normals[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->depths_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->depths_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->depths_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->depths_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->depths_length);
+      for( uint32_t i = 0; i < depths_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_depthsi;
+      u_depthsi.real = this->depths[i];
+      *(outbuffer + offset + 0) = (u_depthsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_depthsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_depthsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_depthsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_depthsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_depthsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_depthsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_depthsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->depths[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_info;
+      arrToVar(length_info, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_info; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_info-1]=0;
+      this->info = (char *)(inbuffer + offset-1);
+      offset += length_info;
+      uint32_t length_collision1_name;
+      arrToVar(length_collision1_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_collision1_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_collision1_name-1]=0;
+      this->collision1_name = (char *)(inbuffer + offset-1);
+      offset += length_collision1_name;
+      uint32_t length_collision2_name;
+      arrToVar(length_collision2_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_collision2_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_collision2_name-1]=0;
+      this->collision2_name = (char *)(inbuffer + offset-1);
+      offset += length_collision2_name;
+      uint32_t wrenches_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->wrenches_length);
+      if(wrenches_lengthT > wrenches_length)
+        this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench));
+      wrenches_length = wrenches_lengthT;
+      for( uint32_t i = 0; i < wrenches_length; i++){
+      offset += this->st_wrenches.deserialize(inbuffer + offset);
+        memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench));
+      }
+      offset += this->total_wrench.deserialize(inbuffer + offset);
+      uint32_t contact_positions_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->contact_positions_length);
+      if(contact_positions_lengthT > contact_positions_length)
+        this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3));
+      contact_positions_length = contact_positions_lengthT;
+      for( uint32_t i = 0; i < contact_positions_length; i++){
+      offset += this->st_contact_positions.deserialize(inbuffer + offset);
+        memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3));
+      }
+      uint32_t contact_normals_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->contact_normals_length);
+      if(contact_normals_lengthT > contact_normals_length)
+        this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3));
+      contact_normals_length = contact_normals_lengthT;
+      for( uint32_t i = 0; i < contact_normals_length; i++){
+      offset += this->st_contact_normals.deserialize(inbuffer + offset);
+        memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3));
+      }
+      uint32_t depths_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->depths_length);
+      if(depths_lengthT > depths_length)
+        this->depths = (double*)realloc(this->depths, depths_lengthT * sizeof(double));
+      depths_length = depths_lengthT;
+      for( uint32_t i = 0; i < depths_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_depths;
+      u_st_depths.base = 0;
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_depths = u_st_depths.real;
+      offset += sizeof(this->st_depths);
+        memcpy( &(this->depths[i]), &(this->st_depths), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ContactState"; };
+    const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ContactsState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ContactsState.h
new file mode 100644
index 0000000..9af62c0
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ContactsState.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_gazebo_msgs_ContactsState_h
+#define _ROS_gazebo_msgs_ContactsState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "gazebo_msgs/ContactState.h"
+
+namespace gazebo_msgs
+{
+
+  class ContactsState : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t states_length;
+      typedef gazebo_msgs::ContactState _states_type;
+      _states_type st_states;
+      _states_type * states;
+
+    ContactsState():
+      header(),
+      states_length(0), states(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->states_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->states_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->states_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->states_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->states_length);
+      for( uint32_t i = 0; i < states_length; i++){
+      offset += this->states[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t states_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->states_length);
+      if(states_lengthT > states_length)
+        this->states = (gazebo_msgs::ContactState*)realloc(this->states, states_lengthT * sizeof(gazebo_msgs::ContactState));
+      states_length = states_lengthT;
+      for( uint32_t i = 0; i < states_length; i++){
+      offset += this->st_states.deserialize(inbuffer + offset);
+        memcpy( &(this->states[i]), &(this->st_states), sizeof(gazebo_msgs::ContactState));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ContactsState"; };
+    const char * getMD5(){ return "acbcb1601a8e525bf72509f18e6f668d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/DeleteLight.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/DeleteLight.h
new file mode 100644
index 0000000..54a9c5d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/DeleteLight.h
@@ -0,0 +1,122 @@
+#ifndef _ROS_SERVICE_DeleteLight_h
+#define _ROS_SERVICE_DeleteLight_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char DELETELIGHT[] = "gazebo_msgs/DeleteLight";
+
+  class DeleteLightRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _light_name_type;
+      _light_name_type light_name;
+
+    DeleteLightRequest():
+      light_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_light_name = strlen(this->light_name);
+      varToArr(outbuffer + offset, length_light_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->light_name, length_light_name);
+      offset += length_light_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_light_name;
+      arrToVar(length_light_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_light_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_light_name-1]=0;
+      this->light_name = (char *)(inbuffer + offset-1);
+      offset += length_light_name;
+     return offset;
+    }
+
+    const char * getType(){ return DELETELIGHT; };
+    const char * getMD5(){ return "4fb676dfb4741fc866365702a859441c"; };
+
+  };
+
+  class DeleteLightResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    DeleteLightResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return DELETELIGHT; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class DeleteLight {
+    public:
+    typedef DeleteLightRequest Request;
+    typedef DeleteLightResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/DeleteModel.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/DeleteModel.h
new file mode 100644
index 0000000..00da12d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/DeleteModel.h
@@ -0,0 +1,122 @@
+#ifndef _ROS_SERVICE_DeleteModel_h
+#define _ROS_SERVICE_DeleteModel_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char DELETEMODEL[] = "gazebo_msgs/DeleteModel";
+
+  class DeleteModelRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _model_name_type;
+      _model_name_type model_name;
+
+    DeleteModelRequest():
+      model_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      varToArr(outbuffer + offset, length_model_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      arrToVar(length_model_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+     return offset;
+    }
+
+    const char * getType(){ return DELETEMODEL; };
+    const char * getMD5(){ return "ea31c8eab6fc401383cf528a7c0984ba"; };
+
+  };
+
+  class DeleteModelResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    DeleteModelResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return DELETEMODEL; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class DeleteModel {
+    public:
+    typedef DeleteModelRequest Request;
+    typedef DeleteModelResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetJointProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetJointProperties.h
new file mode 100644
index 0000000..6ad0fe9
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetJointProperties.h
@@ -0,0 +1,291 @@
+#ifndef _ROS_SERVICE_GetJointProperties_h
+#define _ROS_SERVICE_GetJointProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties";
+
+  class GetJointPropertiesRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _joint_name_type;
+      _joint_name_type joint_name;
+
+    GetJointPropertiesRequest():
+      joint_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_joint_name = strlen(this->joint_name);
+      varToArr(outbuffer + offset, length_joint_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
+      offset += length_joint_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_joint_name;
+      arrToVar(length_joint_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_joint_name-1]=0;
+      this->joint_name = (char *)(inbuffer + offset-1);
+      offset += length_joint_name;
+     return offset;
+    }
+
+    const char * getType(){ return GETJOINTPROPERTIES; };
+    const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; };
+
+  };
+
+  class GetJointPropertiesResponse : public ros::Msg
+  {
+    public:
+      typedef uint8_t _type_type;
+      _type_type type;
+      uint32_t damping_length;
+      typedef double _damping_type;
+      _damping_type st_damping;
+      _damping_type * damping;
+      uint32_t position_length;
+      typedef double _position_type;
+      _position_type st_position;
+      _position_type * position;
+      uint32_t rate_length;
+      typedef double _rate_type;
+      _rate_type st_rate;
+      _rate_type * rate;
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+      enum { REVOLUTE =  0                 };
+      enum { CONTINUOUS =  1                 };
+      enum { PRISMATIC =  2                 };
+      enum { FIXED =  3                 };
+      enum { BALL =  4                 };
+      enum { UNIVERSAL =  5                 };
+
+    GetJointPropertiesResponse():
+      type(0),
+      damping_length(0), damping(NULL),
+      position_length(0), position(NULL),
+      rate_length(0), rate(NULL),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->type);
+      *(outbuffer + offset + 0) = (this->damping_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->damping_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->damping_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->damping_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->damping_length);
+      for( uint32_t i = 0; i < damping_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_dampingi;
+      u_dampingi.real = this->damping[i];
+      *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->damping[i]);
+      }
+      *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->position_length);
+      for( uint32_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positioni;
+      u_positioni.real = this->position[i];
+      *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position[i]);
+      }
+      *(outbuffer + offset + 0) = (this->rate_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->rate_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->rate_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->rate_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->rate_length);
+      for( uint32_t i = 0; i < rate_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_ratei;
+      u_ratei.real = this->rate[i];
+      *(outbuffer + offset + 0) = (u_ratei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ratei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ratei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ratei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ratei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ratei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ratei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ratei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->rate[i]);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->type);
+      uint32_t damping_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->damping_length);
+      if(damping_lengthT > damping_length)
+        this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double));
+      damping_length = damping_lengthT;
+      for( uint32_t i = 0; i < damping_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_damping;
+      u_st_damping.base = 0;
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_damping = u_st_damping.real;
+      offset += sizeof(this->st_damping);
+        memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double));
+      }
+      uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->position_length);
+      if(position_lengthT > position_length)
+        this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+      position_length = position_lengthT;
+      for( uint32_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_position;
+      u_st_position.base = 0;
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_position = u_st_position.real;
+      offset += sizeof(this->st_position);
+        memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+      }
+      uint32_t rate_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->rate_length);
+      if(rate_lengthT > rate_length)
+        this->rate = (double*)realloc(this->rate, rate_lengthT * sizeof(double));
+      rate_length = rate_lengthT;
+      for( uint32_t i = 0; i < rate_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_rate;
+      u_st_rate.base = 0;
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_rate = u_st_rate.real;
+      offset += sizeof(this->st_rate);
+        memcpy( &(this->rate[i]), &(this->st_rate), sizeof(double));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETJOINTPROPERTIES; };
+    const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; };
+
+  };
+
+  class GetJointProperties {
+    public:
+    typedef GetJointPropertiesRequest Request;
+    typedef GetJointPropertiesResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetLightProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetLightProperties.h
new file mode 100644
index 0000000..7210186
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetLightProperties.h
@@ -0,0 +1,224 @@
+#ifndef _ROS_SERVICE_GetLightProperties_h
+#define _ROS_SERVICE_GetLightProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/ColorRGBA.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETLIGHTPROPERTIES[] = "gazebo_msgs/GetLightProperties";
+
+  class GetLightPropertiesRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _light_name_type;
+      _light_name_type light_name;
+
+    GetLightPropertiesRequest():
+      light_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_light_name = strlen(this->light_name);
+      varToArr(outbuffer + offset, length_light_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->light_name, length_light_name);
+      offset += length_light_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_light_name;
+      arrToVar(length_light_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_light_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_light_name-1]=0;
+      this->light_name = (char *)(inbuffer + offset-1);
+      offset += length_light_name;
+     return offset;
+    }
+
+    const char * getType(){ return GETLIGHTPROPERTIES; };
+    const char * getMD5(){ return "4fb676dfb4741fc866365702a859441c"; };
+
+  };
+
+  class GetLightPropertiesResponse : public ros::Msg
+  {
+    public:
+      typedef std_msgs::ColorRGBA _diffuse_type;
+      _diffuse_type diffuse;
+      typedef double _attenuation_constant_type;
+      _attenuation_constant_type attenuation_constant;
+      typedef double _attenuation_linear_type;
+      _attenuation_linear_type attenuation_linear;
+      typedef double _attenuation_quadratic_type;
+      _attenuation_quadratic_type attenuation_quadratic;
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    GetLightPropertiesResponse():
+      diffuse(),
+      attenuation_constant(0),
+      attenuation_linear(0),
+      attenuation_quadratic(0),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->diffuse.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_constant;
+      u_attenuation_constant.real = this->attenuation_constant;
+      *(outbuffer + offset + 0) = (u_attenuation_constant.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_attenuation_constant.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_attenuation_constant.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_attenuation_constant.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_attenuation_constant.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_attenuation_constant.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_attenuation_constant.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_attenuation_constant.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->attenuation_constant);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_linear;
+      u_attenuation_linear.real = this->attenuation_linear;
+      *(outbuffer + offset + 0) = (u_attenuation_linear.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_attenuation_linear.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_attenuation_linear.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_attenuation_linear.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_attenuation_linear.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_attenuation_linear.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_attenuation_linear.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_attenuation_linear.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->attenuation_linear);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_quadratic;
+      u_attenuation_quadratic.real = this->attenuation_quadratic;
+      *(outbuffer + offset + 0) = (u_attenuation_quadratic.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_attenuation_quadratic.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_attenuation_quadratic.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_attenuation_quadratic.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_attenuation_quadratic.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_attenuation_quadratic.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_attenuation_quadratic.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_attenuation_quadratic.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->attenuation_quadratic);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->diffuse.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_constant;
+      u_attenuation_constant.base = 0;
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->attenuation_constant = u_attenuation_constant.real;
+      offset += sizeof(this->attenuation_constant);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_linear;
+      u_attenuation_linear.base = 0;
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->attenuation_linear = u_attenuation_linear.real;
+      offset += sizeof(this->attenuation_linear);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_quadratic;
+      u_attenuation_quadratic.base = 0;
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->attenuation_quadratic = u_attenuation_quadratic.real;
+      offset += sizeof(this->attenuation_quadratic);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETLIGHTPROPERTIES; };
+    const char * getMD5(){ return "9a19ddd5aab4c13b7643d1722c709f1f"; };
+
+  };
+
+  class GetLightProperties {
+    public:
+    typedef GetLightPropertiesRequest Request;
+    typedef GetLightPropertiesResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetLinkProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetLinkProperties.h
new file mode 100644
index 0000000..0d4173f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetLinkProperties.h
@@ -0,0 +1,370 @@
+#ifndef _ROS_SERVICE_GetLinkProperties_h
+#define _ROS_SERVICE_GetLinkProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETLINKPROPERTIES[] = "gazebo_msgs/GetLinkProperties";
+
+  class GetLinkPropertiesRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _link_name_type;
+      _link_name_type link_name;
+
+    GetLinkPropertiesRequest():
+      link_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_link_name = strlen(this->link_name);
+      varToArr(outbuffer + offset, length_link_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_name, length_link_name);
+      offset += length_link_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_link_name;
+      arrToVar(length_link_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_link_name-1]=0;
+      this->link_name = (char *)(inbuffer + offset-1);
+      offset += length_link_name;
+     return offset;
+    }
+
+    const char * getType(){ return GETLINKPROPERTIES; };
+    const char * getMD5(){ return "7d82d60381f1b66a30f2157f60884345"; };
+
+  };
+
+  class GetLinkPropertiesResponse : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::Pose _com_type;
+      _com_type com;
+      typedef bool _gravity_mode_type;
+      _gravity_mode_type gravity_mode;
+      typedef double _mass_type;
+      _mass_type mass;
+      typedef double _ixx_type;
+      _ixx_type ixx;
+      typedef double _ixy_type;
+      _ixy_type ixy;
+      typedef double _ixz_type;
+      _ixz_type ixz;
+      typedef double _iyy_type;
+      _iyy_type iyy;
+      typedef double _iyz_type;
+      _iyz_type iyz;
+      typedef double _izz_type;
+      _izz_type izz;
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    GetLinkPropertiesResponse():
+      com(),
+      gravity_mode(0),
+      mass(0),
+      ixx(0),
+      ixy(0),
+      ixz(0),
+      iyy(0),
+      iyz(0),
+      izz(0),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->com.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_gravity_mode;
+      u_gravity_mode.real = this->gravity_mode;
+      *(outbuffer + offset + 0) = (u_gravity_mode.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->gravity_mode);
+      union {
+        double real;
+        uint64_t base;
+      } u_mass;
+      u_mass.real = this->mass;
+      *(outbuffer + offset + 0) = (u_mass.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mass.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mass.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mass.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mass.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mass.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mass.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mass.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mass);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.real = this->ixx;
+      *(outbuffer + offset + 0) = (u_ixx.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixx.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixx.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixx.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixx.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixx.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixx.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixx.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.real = this->ixy;
+      *(outbuffer + offset + 0) = (u_ixy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.real = this->ixz;
+      *(outbuffer + offset + 0) = (u_ixz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.real = this->iyy;
+      *(outbuffer + offset + 0) = (u_iyy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.real = this->iyz;
+      *(outbuffer + offset + 0) = (u_iyz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.real = this->izz;
+      *(outbuffer + offset + 0) = (u_izz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_izz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_izz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_izz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_izz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_izz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_izz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_izz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->izz);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->com.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_gravity_mode;
+      u_gravity_mode.base = 0;
+      u_gravity_mode.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->gravity_mode = u_gravity_mode.real;
+      offset += sizeof(this->gravity_mode);
+      union {
+        double real;
+        uint64_t base;
+      } u_mass;
+      u_mass.base = 0;
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mass = u_mass.real;
+      offset += sizeof(this->mass);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.base = 0;
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixx = u_ixx.real;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.base = 0;
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixy = u_ixy.real;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.base = 0;
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixz = u_ixz.real;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.base = 0;
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyy = u_iyy.real;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.base = 0;
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyz = u_iyz.real;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.base = 0;
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->izz = u_izz.real;
+      offset += sizeof(this->izz);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETLINKPROPERTIES; };
+    const char * getMD5(){ return "a8619f92d17cfcc3958c0fd13299443d"; };
+
+  };
+
+  class GetLinkProperties {
+    public:
+    typedef GetLinkPropertiesRequest Request;
+    typedef GetLinkPropertiesResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetLinkState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetLinkState.h
new file mode 100644
index 0000000..5e20764
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetLinkState.h
@@ -0,0 +1,145 @@
+#ifndef _ROS_SERVICE_GetLinkState_h
+#define _ROS_SERVICE_GetLinkState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "gazebo_msgs/LinkState.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETLINKSTATE[] = "gazebo_msgs/GetLinkState";
+
+  class GetLinkStateRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _link_name_type;
+      _link_name_type link_name;
+      typedef const char* _reference_frame_type;
+      _reference_frame_type reference_frame;
+
+    GetLinkStateRequest():
+      link_name(""),
+      reference_frame("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_link_name = strlen(this->link_name);
+      varToArr(outbuffer + offset, length_link_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_name, length_link_name);
+      offset += length_link_name;
+      uint32_t length_reference_frame = strlen(this->reference_frame);
+      varToArr(outbuffer + offset, length_reference_frame);
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
+      offset += length_reference_frame;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_link_name;
+      arrToVar(length_link_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_link_name-1]=0;
+      this->link_name = (char *)(inbuffer + offset-1);
+      offset += length_link_name;
+      uint32_t length_reference_frame;
+      arrToVar(length_reference_frame, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame-1]=0;
+      this->reference_frame = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame;
+     return offset;
+    }
+
+    const char * getType(){ return GETLINKSTATE; };
+    const char * getMD5(){ return "7551675c30aaa71f7c288d4864552001"; };
+
+  };
+
+  class GetLinkStateResponse : public ros::Msg
+  {
+    public:
+      typedef gazebo_msgs::LinkState _link_state_type;
+      _link_state_type link_state;
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    GetLinkStateResponse():
+      link_state(),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->link_state.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->link_state.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETLINKSTATE; };
+    const char * getMD5(){ return "8ba55ad34f9c072e75c0de57b089753b"; };
+
+  };
+
+  class GetLinkState {
+    public:
+    typedef GetLinkStateRequest Request;
+    typedef GetLinkStateResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetModelProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetModelProperties.h
new file mode 100644
index 0000000..082e688
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetModelProperties.h
@@ -0,0 +1,322 @@
+#ifndef _ROS_SERVICE_GetModelProperties_h
+#define _ROS_SERVICE_GetModelProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETMODELPROPERTIES[] = "gazebo_msgs/GetModelProperties";
+
+  class GetModelPropertiesRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _model_name_type;
+      _model_name_type model_name;
+
+    GetModelPropertiesRequest():
+      model_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      varToArr(outbuffer + offset, length_model_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      arrToVar(length_model_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+     return offset;
+    }
+
+    const char * getType(){ return GETMODELPROPERTIES; };
+    const char * getMD5(){ return "ea31c8eab6fc401383cf528a7c0984ba"; };
+
+  };
+
+  class GetModelPropertiesResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _parent_model_name_type;
+      _parent_model_name_type parent_model_name;
+      typedef const char* _canonical_body_name_type;
+      _canonical_body_name_type canonical_body_name;
+      uint32_t body_names_length;
+      typedef char* _body_names_type;
+      _body_names_type st_body_names;
+      _body_names_type * body_names;
+      uint32_t geom_names_length;
+      typedef char* _geom_names_type;
+      _geom_names_type st_geom_names;
+      _geom_names_type * geom_names;
+      uint32_t joint_names_length;
+      typedef char* _joint_names_type;
+      _joint_names_type st_joint_names;
+      _joint_names_type * joint_names;
+      uint32_t child_model_names_length;
+      typedef char* _child_model_names_type;
+      _child_model_names_type st_child_model_names;
+      _child_model_names_type * child_model_names;
+      typedef bool _is_static_type;
+      _is_static_type is_static;
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    GetModelPropertiesResponse():
+      parent_model_name(""),
+      canonical_body_name(""),
+      body_names_length(0), body_names(NULL),
+      geom_names_length(0), geom_names(NULL),
+      joint_names_length(0), joint_names(NULL),
+      child_model_names_length(0), child_model_names(NULL),
+      is_static(0),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_parent_model_name = strlen(this->parent_model_name);
+      varToArr(outbuffer + offset, length_parent_model_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->parent_model_name, length_parent_model_name);
+      offset += length_parent_model_name;
+      uint32_t length_canonical_body_name = strlen(this->canonical_body_name);
+      varToArr(outbuffer + offset, length_canonical_body_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->canonical_body_name, length_canonical_body_name);
+      offset += length_canonical_body_name;
+      *(outbuffer + offset + 0) = (this->body_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->body_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->body_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->body_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->body_names_length);
+      for( uint32_t i = 0; i < body_names_length; i++){
+      uint32_t length_body_namesi = strlen(this->body_names[i]);
+      varToArr(outbuffer + offset, length_body_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->body_names[i], length_body_namesi);
+      offset += length_body_namesi;
+      }
+      *(outbuffer + offset + 0) = (this->geom_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->geom_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->geom_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->geom_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->geom_names_length);
+      for( uint32_t i = 0; i < geom_names_length; i++){
+      uint32_t length_geom_namesi = strlen(this->geom_names[i]);
+      varToArr(outbuffer + offset, length_geom_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->geom_names[i], length_geom_namesi);
+      offset += length_geom_namesi;
+      }
+      *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->joint_names_length);
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      varToArr(outbuffer + offset, length_joint_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset + 0) = (this->child_model_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->child_model_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->child_model_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->child_model_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->child_model_names_length);
+      for( uint32_t i = 0; i < child_model_names_length; i++){
+      uint32_t length_child_model_namesi = strlen(this->child_model_names[i]);
+      varToArr(outbuffer + offset, length_child_model_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->child_model_names[i], length_child_model_namesi);
+      offset += length_child_model_namesi;
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_static;
+      u_is_static.real = this->is_static;
+      *(outbuffer + offset + 0) = (u_is_static.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_static);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_parent_model_name;
+      arrToVar(length_parent_model_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_parent_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_parent_model_name-1]=0;
+      this->parent_model_name = (char *)(inbuffer + offset-1);
+      offset += length_parent_model_name;
+      uint32_t length_canonical_body_name;
+      arrToVar(length_canonical_body_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_canonical_body_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_canonical_body_name-1]=0;
+      this->canonical_body_name = (char *)(inbuffer + offset-1);
+      offset += length_canonical_body_name;
+      uint32_t body_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      body_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      body_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      body_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->body_names_length);
+      if(body_names_lengthT > body_names_length)
+        this->body_names = (char**)realloc(this->body_names, body_names_lengthT * sizeof(char*));
+      body_names_length = body_names_lengthT;
+      for( uint32_t i = 0; i < body_names_length; i++){
+      uint32_t length_st_body_names;
+      arrToVar(length_st_body_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_body_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_body_names-1]=0;
+      this->st_body_names = (char *)(inbuffer + offset-1);
+      offset += length_st_body_names;
+        memcpy( &(this->body_names[i]), &(this->st_body_names), sizeof(char*));
+      }
+      uint32_t geom_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      geom_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      geom_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      geom_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->geom_names_length);
+      if(geom_names_lengthT > geom_names_length)
+        this->geom_names = (char**)realloc(this->geom_names, geom_names_lengthT * sizeof(char*));
+      geom_names_length = geom_names_lengthT;
+      for( uint32_t i = 0; i < geom_names_length; i++){
+      uint32_t length_st_geom_names;
+      arrToVar(length_st_geom_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_geom_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_geom_names-1]=0;
+      this->st_geom_names = (char *)(inbuffer + offset-1);
+      offset += length_st_geom_names;
+        memcpy( &(this->geom_names[i]), &(this->st_geom_names), sizeof(char*));
+      }
+      uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->joint_names_length);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      joint_names_length = joint_names_lengthT;
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      arrToVar(length_st_joint_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint32_t child_model_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      child_model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      child_model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      child_model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->child_model_names_length);
+      if(child_model_names_lengthT > child_model_names_length)
+        this->child_model_names = (char**)realloc(this->child_model_names, child_model_names_lengthT * sizeof(char*));
+      child_model_names_length = child_model_names_lengthT;
+      for( uint32_t i = 0; i < child_model_names_length; i++){
+      uint32_t length_st_child_model_names;
+      arrToVar(length_st_child_model_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_child_model_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_child_model_names-1]=0;
+      this->st_child_model_names = (char *)(inbuffer + offset-1);
+      offset += length_st_child_model_names;
+        memcpy( &(this->child_model_names[i]), &(this->st_child_model_names), sizeof(char*));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_static;
+      u_is_static.base = 0;
+      u_is_static.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_static = u_is_static.real;
+      offset += sizeof(this->is_static);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETMODELPROPERTIES; };
+    const char * getMD5(){ return "b7f370938ef77b464b95f1bab3ec5028"; };
+
+  };
+
+  class GetModelProperties {
+    public:
+    typedef GetModelPropertiesRequest Request;
+    typedef GetModelPropertiesResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetModelState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetModelState.h
new file mode 100644
index 0000000..0dbcc81
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetModelState.h
@@ -0,0 +1,157 @@
+#ifndef _ROS_SERVICE_GetModelState_h
+#define _ROS_SERVICE_GetModelState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+#include "std_msgs/Header.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETMODELSTATE[] = "gazebo_msgs/GetModelState";
+
+  class GetModelStateRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _model_name_type;
+      _model_name_type model_name;
+      typedef const char* _relative_entity_name_type;
+      _relative_entity_name_type relative_entity_name;
+
+    GetModelStateRequest():
+      model_name(""),
+      relative_entity_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      varToArr(outbuffer + offset, length_model_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      uint32_t length_relative_entity_name = strlen(this->relative_entity_name);
+      varToArr(outbuffer + offset, length_relative_entity_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->relative_entity_name, length_relative_entity_name);
+      offset += length_relative_entity_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      arrToVar(length_model_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+      uint32_t length_relative_entity_name;
+      arrToVar(length_relative_entity_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_relative_entity_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_relative_entity_name-1]=0;
+      this->relative_entity_name = (char *)(inbuffer + offset-1);
+      offset += length_relative_entity_name;
+     return offset;
+    }
+
+    const char * getType(){ return GETMODELSTATE; };
+    const char * getMD5(){ return "19d412713cefe4a67437e17a951e759e"; };
+
+  };
+
+  class GetModelStateResponse : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type pose;
+      typedef geometry_msgs::Twist _twist_type;
+      _twist_type twist;
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    GetModelStateResponse():
+      header(),
+      pose(),
+      twist(),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETMODELSTATE; };
+    const char * getMD5(){ return "ccd51739bb00f0141629e87b792e92b9"; };
+
+  };
+
+  class GetModelState {
+    public:
+    typedef GetModelStateRequest Request;
+    typedef GetModelStateResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetPhysicsProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetPhysicsProperties.h
new file mode 100644
index 0000000..f79bc89
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetPhysicsProperties.h
@@ -0,0 +1,199 @@
+#ifndef _ROS_SERVICE_GetPhysicsProperties_h
+#define _ROS_SERVICE_GetPhysicsProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+#include "gazebo_msgs/ODEPhysics.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETPHYSICSPROPERTIES[] = "gazebo_msgs/GetPhysicsProperties";
+
+  class GetPhysicsPropertiesRequest : public ros::Msg
+  {
+    public:
+
+    GetPhysicsPropertiesRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETPHYSICSPROPERTIES; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetPhysicsPropertiesResponse : public ros::Msg
+  {
+    public:
+      typedef double _time_step_type;
+      _time_step_type time_step;
+      typedef bool _pause_type;
+      _pause_type pause;
+      typedef double _max_update_rate_type;
+      _max_update_rate_type max_update_rate;
+      typedef geometry_msgs::Vector3 _gravity_type;
+      _gravity_type gravity;
+      typedef gazebo_msgs::ODEPhysics _ode_config_type;
+      _ode_config_type ode_config;
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    GetPhysicsPropertiesResponse():
+      time_step(0),
+      pause(0),
+      max_update_rate(0),
+      gravity(),
+      ode_config(),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.real = this->time_step;
+      *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->time_step);
+      union {
+        bool real;
+        uint8_t base;
+      } u_pause;
+      u_pause.real = this->pause;
+      *(outbuffer + offset + 0) = (u_pause.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->pause);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_update_rate;
+      u_max_update_rate.real = this->max_update_rate;
+      *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_update_rate);
+      offset += this->gravity.serialize(outbuffer + offset);
+      offset += this->ode_config.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.base = 0;
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->time_step = u_time_step.real;
+      offset += sizeof(this->time_step);
+      union {
+        bool real;
+        uint8_t base;
+      } u_pause;
+      u_pause.base = 0;
+      u_pause.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->pause = u_pause.real;
+      offset += sizeof(this->pause);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_update_rate;
+      u_max_update_rate.base = 0;
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_update_rate = u_max_update_rate.real;
+      offset += sizeof(this->max_update_rate);
+      offset += this->gravity.deserialize(inbuffer + offset);
+      offset += this->ode_config.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETPHYSICSPROPERTIES; };
+    const char * getMD5(){ return "575a5e74786981b7df2e3afc567693a6"; };
+
+  };
+
+  class GetPhysicsProperties {
+    public:
+    typedef GetPhysicsPropertiesRequest Request;
+    typedef GetPhysicsPropertiesResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetWorldProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetWorldProperties.h
new file mode 100644
index 0000000..e9170e7
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/GetWorldProperties.h
@@ -0,0 +1,192 @@
+#ifndef _ROS_SERVICE_GetWorldProperties_h
+#define _ROS_SERVICE_GetWorldProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETWORLDPROPERTIES[] = "gazebo_msgs/GetWorldProperties";
+
+  class GetWorldPropertiesRequest : public ros::Msg
+  {
+    public:
+
+    GetWorldPropertiesRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETWORLDPROPERTIES; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetWorldPropertiesResponse : public ros::Msg
+  {
+    public:
+      typedef double _sim_time_type;
+      _sim_time_type sim_time;
+      uint32_t model_names_length;
+      typedef char* _model_names_type;
+      _model_names_type st_model_names;
+      _model_names_type * model_names;
+      typedef bool _rendering_enabled_type;
+      _rendering_enabled_type rendering_enabled;
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    GetWorldPropertiesResponse():
+      sim_time(0),
+      model_names_length(0), model_names(NULL),
+      rendering_enabled(0),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_sim_time;
+      u_sim_time.real = this->sim_time;
+      *(outbuffer + offset + 0) = (u_sim_time.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sim_time.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sim_time.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sim_time.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sim_time.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sim_time.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sim_time.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sim_time.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sim_time);
+      *(outbuffer + offset + 0) = (this->model_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->model_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->model_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->model_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->model_names_length);
+      for( uint32_t i = 0; i < model_names_length; i++){
+      uint32_t length_model_namesi = strlen(this->model_names[i]);
+      varToArr(outbuffer + offset, length_model_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_names[i], length_model_namesi);
+      offset += length_model_namesi;
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_rendering_enabled;
+      u_rendering_enabled.real = this->rendering_enabled;
+      *(outbuffer + offset + 0) = (u_rendering_enabled.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->rendering_enabled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_sim_time;
+      u_sim_time.base = 0;
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sim_time = u_sim_time.real;
+      offset += sizeof(this->sim_time);
+      uint32_t model_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      model_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->model_names_length);
+      if(model_names_lengthT > model_names_length)
+        this->model_names = (char**)realloc(this->model_names, model_names_lengthT * sizeof(char*));
+      model_names_length = model_names_lengthT;
+      for( uint32_t i = 0; i < model_names_length; i++){
+      uint32_t length_st_model_names;
+      arrToVar(length_st_model_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_model_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_model_names-1]=0;
+      this->st_model_names = (char *)(inbuffer + offset-1);
+      offset += length_st_model_names;
+        memcpy( &(this->model_names[i]), &(this->st_model_names), sizeof(char*));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_rendering_enabled;
+      u_rendering_enabled.base = 0;
+      u_rendering_enabled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->rendering_enabled = u_rendering_enabled.real;
+      offset += sizeof(this->rendering_enabled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETWORLDPROPERTIES; };
+    const char * getMD5(){ return "36bb0f2eccf4d8be971410c22818ba3f"; };
+
+  };
+
+  class GetWorldProperties {
+    public:
+    typedef GetWorldPropertiesRequest Request;
+    typedef GetWorldPropertiesResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/JointRequest.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/JointRequest.h
new file mode 100644
index 0000000..6c2c13e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/JointRequest.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_JointRequest_h
+#define _ROS_SERVICE_JointRequest_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char JOINTREQUEST[] = "gazebo_msgs/JointRequest";
+
+  class JointRequestRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _joint_name_type;
+      _joint_name_type joint_name;
+
+    JointRequestRequest():
+      joint_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_joint_name = strlen(this->joint_name);
+      varToArr(outbuffer + offset, length_joint_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
+      offset += length_joint_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_joint_name;
+      arrToVar(length_joint_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_joint_name-1]=0;
+      this->joint_name = (char *)(inbuffer + offset-1);
+      offset += length_joint_name;
+     return offset;
+    }
+
+    const char * getType(){ return JOINTREQUEST; };
+    const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; };
+
+  };
+
+  class JointRequestResponse : public ros::Msg
+  {
+    public:
+
+    JointRequestResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return JOINTREQUEST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class JointRequest {
+    public:
+    typedef JointRequestRequest Request;
+    typedef JointRequestResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/LinkState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/LinkState.h
new file mode 100644
index 0000000..cd2684b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/LinkState.h
@@ -0,0 +1,84 @@
+#ifndef _ROS_gazebo_msgs_LinkState_h
+#define _ROS_gazebo_msgs_LinkState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+
+namespace gazebo_msgs
+{
+
+  class LinkState : public ros::Msg
+  {
+    public:
+      typedef const char* _link_name_type;
+      _link_name_type link_name;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type pose;
+      typedef geometry_msgs::Twist _twist_type;
+      _twist_type twist;
+      typedef const char* _reference_frame_type;
+      _reference_frame_type reference_frame;
+
+    LinkState():
+      link_name(""),
+      pose(),
+      twist(),
+      reference_frame("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_link_name = strlen(this->link_name);
+      varToArr(outbuffer + offset, length_link_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_name, length_link_name);
+      offset += length_link_name;
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      uint32_t length_reference_frame = strlen(this->reference_frame);
+      varToArr(outbuffer + offset, length_reference_frame);
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
+      offset += length_reference_frame;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_link_name;
+      arrToVar(length_link_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_link_name-1]=0;
+      this->link_name = (char *)(inbuffer + offset-1);
+      offset += length_link_name;
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+      uint32_t length_reference_frame;
+      arrToVar(length_reference_frame, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame-1]=0;
+      this->reference_frame = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame;
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/LinkState"; };
+    const char * getMD5(){ return "0818ebbf28ce3a08d48ab1eaa7309ebe"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/LinkStates.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/LinkStates.h
new file mode 100644
index 0000000..8ec738d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/LinkStates.h
@@ -0,0 +1,127 @@
+#ifndef _ROS_gazebo_msgs_LinkStates_h
+#define _ROS_gazebo_msgs_LinkStates_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+
+namespace gazebo_msgs
+{
+
+  class LinkStates : public ros::Msg
+  {
+    public:
+      uint32_t name_length;
+      typedef char* _name_type;
+      _name_type st_name;
+      _name_type * name;
+      uint32_t pose_length;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type st_pose;
+      _pose_type * pose;
+      uint32_t twist_length;
+      typedef geometry_msgs::Twist _twist_type;
+      _twist_type st_twist;
+      _twist_type * twist;
+
+    LinkStates():
+      name_length(0), name(NULL),
+      pose_length(0), pose(NULL),
+      twist_length(0), twist(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->name_length);
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      varToArr(outbuffer + offset, length_namei);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset + 0) = (this->pose_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pose_length);
+      for( uint32_t i = 0; i < pose_length; i++){
+      offset += this->pose[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->twist_length);
+      for( uint32_t i = 0; i < twist_length; i++){
+      offset += this->twist[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->name_length);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      name_length = name_lengthT;
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      arrToVar(length_st_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint32_t pose_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->pose_length);
+      if(pose_lengthT > pose_length)
+        this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
+      pose_length = pose_lengthT;
+      for( uint32_t i = 0; i < pose_length; i++){
+      offset += this->st_pose.deserialize(inbuffer + offset);
+        memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
+      }
+      uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->twist_length);
+      if(twist_lengthT > twist_length)
+        this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
+      twist_length = twist_lengthT;
+      for( uint32_t i = 0; i < twist_length; i++){
+      offset += this->st_twist.deserialize(inbuffer + offset);
+        memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/LinkStates"; };
+    const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ModelState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ModelState.h
new file mode 100644
index 0000000..4a3cfd1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ModelState.h
@@ -0,0 +1,84 @@
+#ifndef _ROS_gazebo_msgs_ModelState_h
+#define _ROS_gazebo_msgs_ModelState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+
+namespace gazebo_msgs
+{
+
+  class ModelState : public ros::Msg
+  {
+    public:
+      typedef const char* _model_name_type;
+      _model_name_type model_name;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type pose;
+      typedef geometry_msgs::Twist _twist_type;
+      _twist_type twist;
+      typedef const char* _reference_frame_type;
+      _reference_frame_type reference_frame;
+
+    ModelState():
+      model_name(""),
+      pose(),
+      twist(),
+      reference_frame("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      varToArr(outbuffer + offset, length_model_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      uint32_t length_reference_frame = strlen(this->reference_frame);
+      varToArr(outbuffer + offset, length_reference_frame);
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
+      offset += length_reference_frame;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      arrToVar(length_model_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+      uint32_t length_reference_frame;
+      arrToVar(length_reference_frame, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame-1]=0;
+      this->reference_frame = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame;
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ModelState"; };
+    const char * getMD5(){ return "9330fd35f2fcd82d457e54bd54e10593"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ModelStates.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ModelStates.h
new file mode 100644
index 0000000..f6c66d5
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ModelStates.h
@@ -0,0 +1,127 @@
+#ifndef _ROS_gazebo_msgs_ModelStates_h
+#define _ROS_gazebo_msgs_ModelStates_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+
+namespace gazebo_msgs
+{
+
+  class ModelStates : public ros::Msg
+  {
+    public:
+      uint32_t name_length;
+      typedef char* _name_type;
+      _name_type st_name;
+      _name_type * name;
+      uint32_t pose_length;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type st_pose;
+      _pose_type * pose;
+      uint32_t twist_length;
+      typedef geometry_msgs::Twist _twist_type;
+      _twist_type st_twist;
+      _twist_type * twist;
+
+    ModelStates():
+      name_length(0), name(NULL),
+      pose_length(0), pose(NULL),
+      twist_length(0), twist(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->name_length);
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      varToArr(outbuffer + offset, length_namei);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset + 0) = (this->pose_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pose_length);
+      for( uint32_t i = 0; i < pose_length; i++){
+      offset += this->pose[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->twist_length);
+      for( uint32_t i = 0; i < twist_length; i++){
+      offset += this->twist[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->name_length);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      name_length = name_lengthT;
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      arrToVar(length_st_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint32_t pose_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->pose_length);
+      if(pose_lengthT > pose_length)
+        this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
+      pose_length = pose_lengthT;
+      for( uint32_t i = 0; i < pose_length; i++){
+      offset += this->st_pose.deserialize(inbuffer + offset);
+        memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
+      }
+      uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->twist_length);
+      if(twist_lengthT > twist_length)
+        this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
+      twist_length = twist_lengthT;
+      for( uint32_t i = 0; i < twist_length; i++){
+      offset += this->st_twist.deserialize(inbuffer + offset);
+        memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ModelStates"; };
+    const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ODEJointProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ODEJointProperties.h
new file mode 100644
index 0000000..c3fba20
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ODEJointProperties.h
@@ -0,0 +1,558 @@
+#ifndef _ROS_gazebo_msgs_ODEJointProperties_h
+#define _ROS_gazebo_msgs_ODEJointProperties_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+  class ODEJointProperties : public ros::Msg
+  {
+    public:
+      uint32_t damping_length;
+      typedef double _damping_type;
+      _damping_type st_damping;
+      _damping_type * damping;
+      uint32_t hiStop_length;
+      typedef double _hiStop_type;
+      _hiStop_type st_hiStop;
+      _hiStop_type * hiStop;
+      uint32_t loStop_length;
+      typedef double _loStop_type;
+      _loStop_type st_loStop;
+      _loStop_type * loStop;
+      uint32_t erp_length;
+      typedef double _erp_type;
+      _erp_type st_erp;
+      _erp_type * erp;
+      uint32_t cfm_length;
+      typedef double _cfm_type;
+      _cfm_type st_cfm;
+      _cfm_type * cfm;
+      uint32_t stop_erp_length;
+      typedef double _stop_erp_type;
+      _stop_erp_type st_stop_erp;
+      _stop_erp_type * stop_erp;
+      uint32_t stop_cfm_length;
+      typedef double _stop_cfm_type;
+      _stop_cfm_type st_stop_cfm;
+      _stop_cfm_type * stop_cfm;
+      uint32_t fudge_factor_length;
+      typedef double _fudge_factor_type;
+      _fudge_factor_type st_fudge_factor;
+      _fudge_factor_type * fudge_factor;
+      uint32_t fmax_length;
+      typedef double _fmax_type;
+      _fmax_type st_fmax;
+      _fmax_type * fmax;
+      uint32_t vel_length;
+      typedef double _vel_type;
+      _vel_type st_vel;
+      _vel_type * vel;
+
+    ODEJointProperties():
+      damping_length(0), damping(NULL),
+      hiStop_length(0), hiStop(NULL),
+      loStop_length(0), loStop(NULL),
+      erp_length(0), erp(NULL),
+      cfm_length(0), cfm(NULL),
+      stop_erp_length(0), stop_erp(NULL),
+      stop_cfm_length(0), stop_cfm(NULL),
+      fudge_factor_length(0), fudge_factor(NULL),
+      fmax_length(0), fmax(NULL),
+      vel_length(0), vel(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->damping_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->damping_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->damping_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->damping_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->damping_length);
+      for( uint32_t i = 0; i < damping_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_dampingi;
+      u_dampingi.real = this->damping[i];
+      *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->damping[i]);
+      }
+      *(outbuffer + offset + 0) = (this->hiStop_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->hiStop_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->hiStop_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->hiStop_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->hiStop_length);
+      for( uint32_t i = 0; i < hiStop_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_hiStopi;
+      u_hiStopi.real = this->hiStop[i];
+      *(outbuffer + offset + 0) = (u_hiStopi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_hiStopi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_hiStopi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_hiStopi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_hiStopi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_hiStopi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_hiStopi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_hiStopi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->hiStop[i]);
+      }
+      *(outbuffer + offset + 0) = (this->loStop_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->loStop_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->loStop_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->loStop_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->loStop_length);
+      for( uint32_t i = 0; i < loStop_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_loStopi;
+      u_loStopi.real = this->loStop[i];
+      *(outbuffer + offset + 0) = (u_loStopi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_loStopi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_loStopi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_loStopi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_loStopi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_loStopi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_loStopi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_loStopi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->loStop[i]);
+      }
+      *(outbuffer + offset + 0) = (this->erp_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->erp_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->erp_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->erp_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->erp_length);
+      for( uint32_t i = 0; i < erp_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_erpi;
+      u_erpi.real = this->erp[i];
+      *(outbuffer + offset + 0) = (u_erpi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_erpi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_erpi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_erpi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_erpi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_erpi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_erpi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_erpi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->erp[i]);
+      }
+      *(outbuffer + offset + 0) = (this->cfm_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->cfm_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->cfm_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->cfm_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cfm_length);
+      for( uint32_t i = 0; i < cfm_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_cfmi;
+      u_cfmi.real = this->cfm[i];
+      *(outbuffer + offset + 0) = (u_cfmi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cfmi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cfmi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cfmi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_cfmi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_cfmi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_cfmi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_cfmi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->cfm[i]);
+      }
+      *(outbuffer + offset + 0) = (this->stop_erp_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stop_erp_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stop_erp_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stop_erp_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stop_erp_length);
+      for( uint32_t i = 0; i < stop_erp_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_stop_erpi;
+      u_stop_erpi.real = this->stop_erp[i];
+      *(outbuffer + offset + 0) = (u_stop_erpi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_stop_erpi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_stop_erpi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_stop_erpi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_stop_erpi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_stop_erpi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_stop_erpi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_stop_erpi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->stop_erp[i]);
+      }
+      *(outbuffer + offset + 0) = (this->stop_cfm_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stop_cfm_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stop_cfm_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stop_cfm_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stop_cfm_length);
+      for( uint32_t i = 0; i < stop_cfm_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_stop_cfmi;
+      u_stop_cfmi.real = this->stop_cfm[i];
+      *(outbuffer + offset + 0) = (u_stop_cfmi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_stop_cfmi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_stop_cfmi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_stop_cfmi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_stop_cfmi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_stop_cfmi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_stop_cfmi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_stop_cfmi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->stop_cfm[i]);
+      }
+      *(outbuffer + offset + 0) = (this->fudge_factor_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->fudge_factor_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->fudge_factor_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->fudge_factor_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->fudge_factor_length);
+      for( uint32_t i = 0; i < fudge_factor_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_fudge_factori;
+      u_fudge_factori.real = this->fudge_factor[i];
+      *(outbuffer + offset + 0) = (u_fudge_factori.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_fudge_factori.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_fudge_factori.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_fudge_factori.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_fudge_factori.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_fudge_factori.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_fudge_factori.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_fudge_factori.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->fudge_factor[i]);
+      }
+      *(outbuffer + offset + 0) = (this->fmax_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->fmax_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->fmax_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->fmax_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->fmax_length);
+      for( uint32_t i = 0; i < fmax_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_fmaxi;
+      u_fmaxi.real = this->fmax[i];
+      *(outbuffer + offset + 0) = (u_fmaxi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_fmaxi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_fmaxi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_fmaxi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_fmaxi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_fmaxi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_fmaxi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_fmaxi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->fmax[i]);
+      }
+      *(outbuffer + offset + 0) = (this->vel_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->vel_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->vel_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->vel_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->vel_length);
+      for( uint32_t i = 0; i < vel_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_veli;
+      u_veli.real = this->vel[i];
+      *(outbuffer + offset + 0) = (u_veli.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_veli.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_veli.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_veli.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_veli.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_veli.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_veli.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_veli.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->vel[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t damping_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->damping_length);
+      if(damping_lengthT > damping_length)
+        this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double));
+      damping_length = damping_lengthT;
+      for( uint32_t i = 0; i < damping_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_damping;
+      u_st_damping.base = 0;
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_damping = u_st_damping.real;
+      offset += sizeof(this->st_damping);
+        memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double));
+      }
+      uint32_t hiStop_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      hiStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      hiStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      hiStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->hiStop_length);
+      if(hiStop_lengthT > hiStop_length)
+        this->hiStop = (double*)realloc(this->hiStop, hiStop_lengthT * sizeof(double));
+      hiStop_length = hiStop_lengthT;
+      for( uint32_t i = 0; i < hiStop_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_hiStop;
+      u_st_hiStop.base = 0;
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_hiStop = u_st_hiStop.real;
+      offset += sizeof(this->st_hiStop);
+        memcpy( &(this->hiStop[i]), &(this->st_hiStop), sizeof(double));
+      }
+      uint32_t loStop_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      loStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      loStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      loStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->loStop_length);
+      if(loStop_lengthT > loStop_length)
+        this->loStop = (double*)realloc(this->loStop, loStop_lengthT * sizeof(double));
+      loStop_length = loStop_lengthT;
+      for( uint32_t i = 0; i < loStop_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_loStop;
+      u_st_loStop.base = 0;
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_loStop = u_st_loStop.real;
+      offset += sizeof(this->st_loStop);
+        memcpy( &(this->loStop[i]), &(this->st_loStop), sizeof(double));
+      }
+      uint32_t erp_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->erp_length);
+      if(erp_lengthT > erp_length)
+        this->erp = (double*)realloc(this->erp, erp_lengthT * sizeof(double));
+      erp_length = erp_lengthT;
+      for( uint32_t i = 0; i < erp_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_erp;
+      u_st_erp.base = 0;
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_erp = u_st_erp.real;
+      offset += sizeof(this->st_erp);
+        memcpy( &(this->erp[i]), &(this->st_erp), sizeof(double));
+      }
+      uint32_t cfm_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->cfm_length);
+      if(cfm_lengthT > cfm_length)
+        this->cfm = (double*)realloc(this->cfm, cfm_lengthT * sizeof(double));
+      cfm_length = cfm_lengthT;
+      for( uint32_t i = 0; i < cfm_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_cfm;
+      u_st_cfm.base = 0;
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_cfm = u_st_cfm.real;
+      offset += sizeof(this->st_cfm);
+        memcpy( &(this->cfm[i]), &(this->st_cfm), sizeof(double));
+      }
+      uint32_t stop_erp_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      stop_erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      stop_erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      stop_erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->stop_erp_length);
+      if(stop_erp_lengthT > stop_erp_length)
+        this->stop_erp = (double*)realloc(this->stop_erp, stop_erp_lengthT * sizeof(double));
+      stop_erp_length = stop_erp_lengthT;
+      for( uint32_t i = 0; i < stop_erp_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_stop_erp;
+      u_st_stop_erp.base = 0;
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_stop_erp = u_st_stop_erp.real;
+      offset += sizeof(this->st_stop_erp);
+        memcpy( &(this->stop_erp[i]), &(this->st_stop_erp), sizeof(double));
+      }
+      uint32_t stop_cfm_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      stop_cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      stop_cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      stop_cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->stop_cfm_length);
+      if(stop_cfm_lengthT > stop_cfm_length)
+        this->stop_cfm = (double*)realloc(this->stop_cfm, stop_cfm_lengthT * sizeof(double));
+      stop_cfm_length = stop_cfm_lengthT;
+      for( uint32_t i = 0; i < stop_cfm_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_stop_cfm;
+      u_st_stop_cfm.base = 0;
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_stop_cfm = u_st_stop_cfm.real;
+      offset += sizeof(this->st_stop_cfm);
+        memcpy( &(this->stop_cfm[i]), &(this->st_stop_cfm), sizeof(double));
+      }
+      uint32_t fudge_factor_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      fudge_factor_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      fudge_factor_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      fudge_factor_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->fudge_factor_length);
+      if(fudge_factor_lengthT > fudge_factor_length)
+        this->fudge_factor = (double*)realloc(this->fudge_factor, fudge_factor_lengthT * sizeof(double));
+      fudge_factor_length = fudge_factor_lengthT;
+      for( uint32_t i = 0; i < fudge_factor_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_fudge_factor;
+      u_st_fudge_factor.base = 0;
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_fudge_factor = u_st_fudge_factor.real;
+      offset += sizeof(this->st_fudge_factor);
+        memcpy( &(this->fudge_factor[i]), &(this->st_fudge_factor), sizeof(double));
+      }
+      uint32_t fmax_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      fmax_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      fmax_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      fmax_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->fmax_length);
+      if(fmax_lengthT > fmax_length)
+        this->fmax = (double*)realloc(this->fmax, fmax_lengthT * sizeof(double));
+      fmax_length = fmax_lengthT;
+      for( uint32_t i = 0; i < fmax_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_fmax;
+      u_st_fmax.base = 0;
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_fmax = u_st_fmax.real;
+      offset += sizeof(this->st_fmax);
+        memcpy( &(this->fmax[i]), &(this->st_fmax), sizeof(double));
+      }
+      uint32_t vel_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      vel_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      vel_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      vel_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->vel_length);
+      if(vel_lengthT > vel_length)
+        this->vel = (double*)realloc(this->vel, vel_lengthT * sizeof(double));
+      vel_length = vel_lengthT;
+      for( uint32_t i = 0; i < vel_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_vel;
+      u_st_vel.base = 0;
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_vel = u_st_vel.real;
+      offset += sizeof(this->st_vel);
+        memcpy( &(this->vel[i]), &(this->st_vel), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ODEJointProperties"; };
+    const char * getMD5(){ return "1b744c32a920af979f53afe2f9c3511f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ODEPhysics.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ODEPhysics.h
new file mode 100644
index 0000000..dcb6038
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/ODEPhysics.h
@@ -0,0 +1,287 @@
+#ifndef _ROS_gazebo_msgs_ODEPhysics_h
+#define _ROS_gazebo_msgs_ODEPhysics_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+  class ODEPhysics : public ros::Msg
+  {
+    public:
+      typedef bool _auto_disable_bodies_type;
+      _auto_disable_bodies_type auto_disable_bodies;
+      typedef uint32_t _sor_pgs_precon_iters_type;
+      _sor_pgs_precon_iters_type sor_pgs_precon_iters;
+      typedef uint32_t _sor_pgs_iters_type;
+      _sor_pgs_iters_type sor_pgs_iters;
+      typedef double _sor_pgs_w_type;
+      _sor_pgs_w_type sor_pgs_w;
+      typedef double _sor_pgs_rms_error_tol_type;
+      _sor_pgs_rms_error_tol_type sor_pgs_rms_error_tol;
+      typedef double _contact_surface_layer_type;
+      _contact_surface_layer_type contact_surface_layer;
+      typedef double _contact_max_correcting_vel_type;
+      _contact_max_correcting_vel_type contact_max_correcting_vel;
+      typedef double _cfm_type;
+      _cfm_type cfm;
+      typedef double _erp_type;
+      _erp_type erp;
+      typedef uint32_t _max_contacts_type;
+      _max_contacts_type max_contacts;
+
+    ODEPhysics():
+      auto_disable_bodies(0),
+      sor_pgs_precon_iters(0),
+      sor_pgs_iters(0),
+      sor_pgs_w(0),
+      sor_pgs_rms_error_tol(0),
+      contact_surface_layer(0),
+      contact_max_correcting_vel(0),
+      cfm(0),
+      erp(0),
+      max_contacts(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_auto_disable_bodies;
+      u_auto_disable_bodies.real = this->auto_disable_bodies;
+      *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->auto_disable_bodies);
+      *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sor_pgs_precon_iters);
+      *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sor_pgs_iters);
+      union {
+        double real;
+        uint64_t base;
+      } u_sor_pgs_w;
+      u_sor_pgs_w.real = this->sor_pgs_w;
+      *(outbuffer + offset + 0) = (u_sor_pgs_w.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sor_pgs_w.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sor_pgs_w.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sor_pgs_w.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sor_pgs_w.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sor_pgs_w.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sor_pgs_w.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sor_pgs_w.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sor_pgs_w);
+      union {
+        double real;
+        uint64_t base;
+      } u_sor_pgs_rms_error_tol;
+      u_sor_pgs_rms_error_tol.real = this->sor_pgs_rms_error_tol;
+      *(outbuffer + offset + 0) = (u_sor_pgs_rms_error_tol.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sor_pgs_rms_error_tol.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sor_pgs_rms_error_tol.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sor_pgs_rms_error_tol.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sor_pgs_rms_error_tol.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sor_pgs_rms_error_tol.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sor_pgs_rms_error_tol.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sor_pgs_rms_error_tol.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sor_pgs_rms_error_tol);
+      union {
+        double real;
+        uint64_t base;
+      } u_contact_surface_layer;
+      u_contact_surface_layer.real = this->contact_surface_layer;
+      *(outbuffer + offset + 0) = (u_contact_surface_layer.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_contact_surface_layer.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_contact_surface_layer.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_contact_surface_layer.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_contact_surface_layer.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_contact_surface_layer.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_contact_surface_layer.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_contact_surface_layer.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->contact_surface_layer);
+      union {
+        double real;
+        uint64_t base;
+      } u_contact_max_correcting_vel;
+      u_contact_max_correcting_vel.real = this->contact_max_correcting_vel;
+      *(outbuffer + offset + 0) = (u_contact_max_correcting_vel.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_contact_max_correcting_vel.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_contact_max_correcting_vel.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_contact_max_correcting_vel.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_contact_max_correcting_vel.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_contact_max_correcting_vel.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_contact_max_correcting_vel.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_contact_max_correcting_vel.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->contact_max_correcting_vel);
+      union {
+        double real;
+        uint64_t base;
+      } u_cfm;
+      u_cfm.real = this->cfm;
+      *(outbuffer + offset + 0) = (u_cfm.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cfm.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cfm.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cfm.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_cfm.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_cfm.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_cfm.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_cfm.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->cfm);
+      union {
+        double real;
+        uint64_t base;
+      } u_erp;
+      u_erp.real = this->erp;
+      *(outbuffer + offset + 0) = (u_erp.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_erp.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_erp.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_erp.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_erp.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_erp.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_erp.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_erp.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->erp);
+      *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->max_contacts);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_auto_disable_bodies;
+      u_auto_disable_bodies.base = 0;
+      u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->auto_disable_bodies = u_auto_disable_bodies.real;
+      offset += sizeof(this->auto_disable_bodies);
+      this->sor_pgs_precon_iters =  ((uint32_t) (*(inbuffer + offset)));
+      this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->sor_pgs_precon_iters);
+      this->sor_pgs_iters =  ((uint32_t) (*(inbuffer + offset)));
+      this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->sor_pgs_iters);
+      union {
+        double real;
+        uint64_t base;
+      } u_sor_pgs_w;
+      u_sor_pgs_w.base = 0;
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sor_pgs_w = u_sor_pgs_w.real;
+      offset += sizeof(this->sor_pgs_w);
+      union {
+        double real;
+        uint64_t base;
+      } u_sor_pgs_rms_error_tol;
+      u_sor_pgs_rms_error_tol.base = 0;
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sor_pgs_rms_error_tol = u_sor_pgs_rms_error_tol.real;
+      offset += sizeof(this->sor_pgs_rms_error_tol);
+      union {
+        double real;
+        uint64_t base;
+      } u_contact_surface_layer;
+      u_contact_surface_layer.base = 0;
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->contact_surface_layer = u_contact_surface_layer.real;
+      offset += sizeof(this->contact_surface_layer);
+      union {
+        double real;
+        uint64_t base;
+      } u_contact_max_correcting_vel;
+      u_contact_max_correcting_vel.base = 0;
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->contact_max_correcting_vel = u_contact_max_correcting_vel.real;
+      offset += sizeof(this->contact_max_correcting_vel);
+      union {
+        double real;
+        uint64_t base;
+      } u_cfm;
+      u_cfm.base = 0;
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->cfm = u_cfm.real;
+      offset += sizeof(this->cfm);
+      union {
+        double real;
+        uint64_t base;
+      } u_erp;
+      u_erp.base = 0;
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->erp = u_erp.real;
+      offset += sizeof(this->erp);
+      this->max_contacts =  ((uint32_t) (*(inbuffer + offset)));
+      this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->max_contacts);
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ODEPhysics"; };
+    const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetJointProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetJointProperties.h
new file mode 100644
index 0000000..981853d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetJointProperties.h
@@ -0,0 +1,128 @@
+#ifndef _ROS_SERVICE_SetJointProperties_h
+#define _ROS_SERVICE_SetJointProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "gazebo_msgs/ODEJointProperties.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETJOINTPROPERTIES[] = "gazebo_msgs/SetJointProperties";
+
+  class SetJointPropertiesRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _joint_name_type;
+      _joint_name_type joint_name;
+      typedef gazebo_msgs::ODEJointProperties _ode_joint_config_type;
+      _ode_joint_config_type ode_joint_config;
+
+    SetJointPropertiesRequest():
+      joint_name(""),
+      ode_joint_config()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_joint_name = strlen(this->joint_name);
+      varToArr(outbuffer + offset, length_joint_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
+      offset += length_joint_name;
+      offset += this->ode_joint_config.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_joint_name;
+      arrToVar(length_joint_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_joint_name-1]=0;
+      this->joint_name = (char *)(inbuffer + offset-1);
+      offset += length_joint_name;
+      offset += this->ode_joint_config.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETJOINTPROPERTIES; };
+    const char * getMD5(){ return "331fd8f35fd27e3c1421175590258e26"; };
+
+  };
+
+  class SetJointPropertiesResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    SetJointPropertiesResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETJOINTPROPERTIES; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetJointProperties {
+    public:
+    typedef SetJointPropertiesRequest Request;
+    typedef SetJointPropertiesResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetJointTrajectory.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetJointTrajectory.h
new file mode 100644
index 0000000..81146ce
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetJointTrajectory.h
@@ -0,0 +1,170 @@
+#ifndef _ROS_SERVICE_SetJointTrajectory_h
+#define _ROS_SERVICE_SetJointTrajectory_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "trajectory_msgs/JointTrajectory.h"
+#include "geometry_msgs/Pose.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETJOINTTRAJECTORY[] = "gazebo_msgs/SetJointTrajectory";
+
+  class SetJointTrajectoryRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _model_name_type;
+      _model_name_type model_name;
+      typedef trajectory_msgs::JointTrajectory _joint_trajectory_type;
+      _joint_trajectory_type joint_trajectory;
+      typedef geometry_msgs::Pose _model_pose_type;
+      _model_pose_type model_pose;
+      typedef bool _set_model_pose_type;
+      _set_model_pose_type set_model_pose;
+      typedef bool _disable_physics_updates_type;
+      _disable_physics_updates_type disable_physics_updates;
+
+    SetJointTrajectoryRequest():
+      model_name(""),
+      joint_trajectory(),
+      model_pose(),
+      set_model_pose(0),
+      disable_physics_updates(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      varToArr(outbuffer + offset, length_model_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      offset += this->joint_trajectory.serialize(outbuffer + offset);
+      offset += this->model_pose.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_set_model_pose;
+      u_set_model_pose.real = this->set_model_pose;
+      *(outbuffer + offset + 0) = (u_set_model_pose.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->set_model_pose);
+      union {
+        bool real;
+        uint8_t base;
+      } u_disable_physics_updates;
+      u_disable_physics_updates.real = this->disable_physics_updates;
+      *(outbuffer + offset + 0) = (u_disable_physics_updates.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->disable_physics_updates);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      arrToVar(length_model_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+      offset += this->joint_trajectory.deserialize(inbuffer + offset);
+      offset += this->model_pose.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_set_model_pose;
+      u_set_model_pose.base = 0;
+      u_set_model_pose.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->set_model_pose = u_set_model_pose.real;
+      offset += sizeof(this->set_model_pose);
+      union {
+        bool real;
+        uint8_t base;
+      } u_disable_physics_updates;
+      u_disable_physics_updates.base = 0;
+      u_disable_physics_updates.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->disable_physics_updates = u_disable_physics_updates.real;
+      offset += sizeof(this->disable_physics_updates);
+     return offset;
+    }
+
+    const char * getType(){ return SETJOINTTRAJECTORY; };
+    const char * getMD5(){ return "649dd2eba5ffd358069238825f9f85ab"; };
+
+  };
+
+  class SetJointTrajectoryResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    SetJointTrajectoryResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETJOINTTRAJECTORY; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetJointTrajectory {
+    public:
+    typedef SetJointTrajectoryRequest Request;
+    typedef SetJointTrajectoryResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetLightProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetLightProperties.h
new file mode 100644
index 0000000..5243ae2
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetLightProperties.h
@@ -0,0 +1,224 @@
+#ifndef _ROS_SERVICE_SetLightProperties_h
+#define _ROS_SERVICE_SetLightProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/ColorRGBA.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETLIGHTPROPERTIES[] = "gazebo_msgs/SetLightProperties";
+
+  class SetLightPropertiesRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _light_name_type;
+      _light_name_type light_name;
+      typedef std_msgs::ColorRGBA _diffuse_type;
+      _diffuse_type diffuse;
+      typedef double _attenuation_constant_type;
+      _attenuation_constant_type attenuation_constant;
+      typedef double _attenuation_linear_type;
+      _attenuation_linear_type attenuation_linear;
+      typedef double _attenuation_quadratic_type;
+      _attenuation_quadratic_type attenuation_quadratic;
+
+    SetLightPropertiesRequest():
+      light_name(""),
+      diffuse(),
+      attenuation_constant(0),
+      attenuation_linear(0),
+      attenuation_quadratic(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_light_name = strlen(this->light_name);
+      varToArr(outbuffer + offset, length_light_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->light_name, length_light_name);
+      offset += length_light_name;
+      offset += this->diffuse.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_constant;
+      u_attenuation_constant.real = this->attenuation_constant;
+      *(outbuffer + offset + 0) = (u_attenuation_constant.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_attenuation_constant.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_attenuation_constant.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_attenuation_constant.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_attenuation_constant.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_attenuation_constant.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_attenuation_constant.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_attenuation_constant.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->attenuation_constant);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_linear;
+      u_attenuation_linear.real = this->attenuation_linear;
+      *(outbuffer + offset + 0) = (u_attenuation_linear.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_attenuation_linear.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_attenuation_linear.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_attenuation_linear.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_attenuation_linear.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_attenuation_linear.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_attenuation_linear.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_attenuation_linear.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->attenuation_linear);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_quadratic;
+      u_attenuation_quadratic.real = this->attenuation_quadratic;
+      *(outbuffer + offset + 0) = (u_attenuation_quadratic.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_attenuation_quadratic.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_attenuation_quadratic.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_attenuation_quadratic.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_attenuation_quadratic.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_attenuation_quadratic.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_attenuation_quadratic.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_attenuation_quadratic.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->attenuation_quadratic);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_light_name;
+      arrToVar(length_light_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_light_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_light_name-1]=0;
+      this->light_name = (char *)(inbuffer + offset-1);
+      offset += length_light_name;
+      offset += this->diffuse.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_constant;
+      u_attenuation_constant.base = 0;
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_attenuation_constant.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->attenuation_constant = u_attenuation_constant.real;
+      offset += sizeof(this->attenuation_constant);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_linear;
+      u_attenuation_linear.base = 0;
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_attenuation_linear.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->attenuation_linear = u_attenuation_linear.real;
+      offset += sizeof(this->attenuation_linear);
+      union {
+        double real;
+        uint64_t base;
+      } u_attenuation_quadratic;
+      u_attenuation_quadratic.base = 0;
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_attenuation_quadratic.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->attenuation_quadratic = u_attenuation_quadratic.real;
+      offset += sizeof(this->attenuation_quadratic);
+     return offset;
+    }
+
+    const char * getType(){ return SETLIGHTPROPERTIES; };
+    const char * getMD5(){ return "73ad1ac5e9e312ddf7c74f38ad843f34"; };
+
+  };
+
+  class SetLightPropertiesResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    SetLightPropertiesResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETLIGHTPROPERTIES; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetLightProperties {
+    public:
+    typedef SetLightPropertiesRequest Request;
+    typedef SetLightPropertiesResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetLinkProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetLinkProperties.h
new file mode 100644
index 0000000..3b0ae61
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetLinkProperties.h
@@ -0,0 +1,370 @@
+#ifndef _ROS_SERVICE_SetLinkProperties_h
+#define _ROS_SERVICE_SetLinkProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETLINKPROPERTIES[] = "gazebo_msgs/SetLinkProperties";
+
+  class SetLinkPropertiesRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _link_name_type;
+      _link_name_type link_name;
+      typedef geometry_msgs::Pose _com_type;
+      _com_type com;
+      typedef bool _gravity_mode_type;
+      _gravity_mode_type gravity_mode;
+      typedef double _mass_type;
+      _mass_type mass;
+      typedef double _ixx_type;
+      _ixx_type ixx;
+      typedef double _ixy_type;
+      _ixy_type ixy;
+      typedef double _ixz_type;
+      _ixz_type ixz;
+      typedef double _iyy_type;
+      _iyy_type iyy;
+      typedef double _iyz_type;
+      _iyz_type iyz;
+      typedef double _izz_type;
+      _izz_type izz;
+
+    SetLinkPropertiesRequest():
+      link_name(""),
+      com(),
+      gravity_mode(0),
+      mass(0),
+      ixx(0),
+      ixy(0),
+      ixz(0),
+      iyy(0),
+      iyz(0),
+      izz(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_link_name = strlen(this->link_name);
+      varToArr(outbuffer + offset, length_link_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_name, length_link_name);
+      offset += length_link_name;
+      offset += this->com.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_gravity_mode;
+      u_gravity_mode.real = this->gravity_mode;
+      *(outbuffer + offset + 0) = (u_gravity_mode.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->gravity_mode);
+      union {
+        double real;
+        uint64_t base;
+      } u_mass;
+      u_mass.real = this->mass;
+      *(outbuffer + offset + 0) = (u_mass.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mass.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mass.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mass.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mass.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mass.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mass.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mass.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mass);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.real = this->ixx;
+      *(outbuffer + offset + 0) = (u_ixx.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixx.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixx.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixx.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixx.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixx.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixx.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixx.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.real = this->ixy;
+      *(outbuffer + offset + 0) = (u_ixy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.real = this->ixz;
+      *(outbuffer + offset + 0) = (u_ixz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.real = this->iyy;
+      *(outbuffer + offset + 0) = (u_iyy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.real = this->iyz;
+      *(outbuffer + offset + 0) = (u_iyz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.real = this->izz;
+      *(outbuffer + offset + 0) = (u_izz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_izz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_izz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_izz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_izz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_izz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_izz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_izz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->izz);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_link_name;
+      arrToVar(length_link_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_link_name-1]=0;
+      this->link_name = (char *)(inbuffer + offset-1);
+      offset += length_link_name;
+      offset += this->com.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_gravity_mode;
+      u_gravity_mode.base = 0;
+      u_gravity_mode.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->gravity_mode = u_gravity_mode.real;
+      offset += sizeof(this->gravity_mode);
+      union {
+        double real;
+        uint64_t base;
+      } u_mass;
+      u_mass.base = 0;
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mass = u_mass.real;
+      offset += sizeof(this->mass);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.base = 0;
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixx = u_ixx.real;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.base = 0;
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixy = u_ixy.real;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.base = 0;
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixz = u_ixz.real;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.base = 0;
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyy = u_iyy.real;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.base = 0;
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyz = u_iyz.real;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.base = 0;
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->izz = u_izz.real;
+      offset += sizeof(this->izz);
+     return offset;
+    }
+
+    const char * getType(){ return SETLINKPROPERTIES; };
+    const char * getMD5(){ return "68ac74a4be01b165bc305b5ccdc45e91"; };
+
+  };
+
+  class SetLinkPropertiesResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    SetLinkPropertiesResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETLINKPROPERTIES; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetLinkProperties {
+    public:
+    typedef SetLinkPropertiesRequest Request;
+    typedef SetLinkPropertiesResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetLinkState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetLinkState.h
new file mode 100644
index 0000000..f089492
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetLinkState.h
@@ -0,0 +1,111 @@
+#ifndef _ROS_SERVICE_SetLinkState_h
+#define _ROS_SERVICE_SetLinkState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "gazebo_msgs/LinkState.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETLINKSTATE[] = "gazebo_msgs/SetLinkState";
+
+  class SetLinkStateRequest : public ros::Msg
+  {
+    public:
+      typedef gazebo_msgs::LinkState _link_state_type;
+      _link_state_type link_state;
+
+    SetLinkStateRequest():
+      link_state()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->link_state.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->link_state.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETLINKSTATE; };
+    const char * getMD5(){ return "22a2c757d56911b6f27868159e9a872d"; };
+
+  };
+
+  class SetLinkStateResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    SetLinkStateResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETLINKSTATE; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetLinkState {
+    public:
+    typedef SetLinkStateRequest Request;
+    typedef SetLinkStateResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetModelConfiguration.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetModelConfiguration.h
new file mode 100644
index 0000000..d2da91b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetModelConfiguration.h
@@ -0,0 +1,228 @@
+#ifndef _ROS_SERVICE_SetModelConfiguration_h
+#define _ROS_SERVICE_SetModelConfiguration_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETMODELCONFIGURATION[] = "gazebo_msgs/SetModelConfiguration";
+
+  class SetModelConfigurationRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _model_name_type;
+      _model_name_type model_name;
+      typedef const char* _urdf_param_name_type;
+      _urdf_param_name_type urdf_param_name;
+      uint32_t joint_names_length;
+      typedef char* _joint_names_type;
+      _joint_names_type st_joint_names;
+      _joint_names_type * joint_names;
+      uint32_t joint_positions_length;
+      typedef double _joint_positions_type;
+      _joint_positions_type st_joint_positions;
+      _joint_positions_type * joint_positions;
+
+    SetModelConfigurationRequest():
+      model_name(""),
+      urdf_param_name(""),
+      joint_names_length(0), joint_names(NULL),
+      joint_positions_length(0), joint_positions(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      varToArr(outbuffer + offset, length_model_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      uint32_t length_urdf_param_name = strlen(this->urdf_param_name);
+      varToArr(outbuffer + offset, length_urdf_param_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name);
+      offset += length_urdf_param_name;
+      *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->joint_names_length);
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      varToArr(outbuffer + offset, length_joint_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset + 0) = (this->joint_positions_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->joint_positions_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->joint_positions_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->joint_positions_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->joint_positions_length);
+      for( uint32_t i = 0; i < joint_positions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_joint_positionsi;
+      u_joint_positionsi.real = this->joint_positions[i];
+      *(outbuffer + offset + 0) = (u_joint_positionsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_joint_positionsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_joint_positionsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_joint_positionsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_joint_positionsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_joint_positionsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_joint_positionsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_joint_positionsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->joint_positions[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      arrToVar(length_model_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+      uint32_t length_urdf_param_name;
+      arrToVar(length_urdf_param_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_urdf_param_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_urdf_param_name-1]=0;
+      this->urdf_param_name = (char *)(inbuffer + offset-1);
+      offset += length_urdf_param_name;
+      uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->joint_names_length);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      joint_names_length = joint_names_lengthT;
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      arrToVar(length_st_joint_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint32_t joint_positions_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      joint_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->joint_positions_length);
+      if(joint_positions_lengthT > joint_positions_length)
+        this->joint_positions = (double*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(double));
+      joint_positions_length = joint_positions_lengthT;
+      for( uint32_t i = 0; i < joint_positions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_joint_positions;
+      u_st_joint_positions.base = 0;
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_joint_positions = u_st_joint_positions.real;
+      offset += sizeof(this->st_joint_positions);
+        memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return SETMODELCONFIGURATION; };
+    const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; };
+
+  };
+
+  class SetModelConfigurationResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    SetModelConfigurationResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETMODELCONFIGURATION; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetModelConfiguration {
+    public:
+    typedef SetModelConfigurationRequest Request;
+    typedef SetModelConfigurationResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetModelState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetModelState.h
new file mode 100644
index 0000000..ef251ad
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetModelState.h
@@ -0,0 +1,111 @@
+#ifndef _ROS_SERVICE_SetModelState_h
+#define _ROS_SERVICE_SetModelState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "gazebo_msgs/ModelState.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETMODELSTATE[] = "gazebo_msgs/SetModelState";
+
+  class SetModelStateRequest : public ros::Msg
+  {
+    public:
+      typedef gazebo_msgs::ModelState _model_state_type;
+      _model_state_type model_state;
+
+    SetModelStateRequest():
+      model_state()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->model_state.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->model_state.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETMODELSTATE; };
+    const char * getMD5(){ return "cb042b0e91880f4661b29ea5b6234350"; };
+
+  };
+
+  class SetModelStateResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    SetModelStateResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETMODELSTATE; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetModelState {
+    public:
+    typedef SetModelStateRequest Request;
+    typedef SetModelStateResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetPhysicsProperties.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetPhysicsProperties.h
new file mode 100644
index 0000000..ea160b5
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SetPhysicsProperties.h
@@ -0,0 +1,181 @@
+#ifndef _ROS_SERVICE_SetPhysicsProperties_h
+#define _ROS_SERVICE_SetPhysicsProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+#include "gazebo_msgs/ODEPhysics.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETPHYSICSPROPERTIES[] = "gazebo_msgs/SetPhysicsProperties";
+
+  class SetPhysicsPropertiesRequest : public ros::Msg
+  {
+    public:
+      typedef double _time_step_type;
+      _time_step_type time_step;
+      typedef double _max_update_rate_type;
+      _max_update_rate_type max_update_rate;
+      typedef geometry_msgs::Vector3 _gravity_type;
+      _gravity_type gravity;
+      typedef gazebo_msgs::ODEPhysics _ode_config_type;
+      _ode_config_type ode_config;
+
+    SetPhysicsPropertiesRequest():
+      time_step(0),
+      max_update_rate(0),
+      gravity(),
+      ode_config()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.real = this->time_step;
+      *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->time_step);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_update_rate;
+      u_max_update_rate.real = this->max_update_rate;
+      *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_update_rate);
+      offset += this->gravity.serialize(outbuffer + offset);
+      offset += this->ode_config.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.base = 0;
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->time_step = u_time_step.real;
+      offset += sizeof(this->time_step);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_update_rate;
+      u_max_update_rate.base = 0;
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_update_rate = u_max_update_rate.real;
+      offset += sizeof(this->max_update_rate);
+      offset += this->gravity.deserialize(inbuffer + offset);
+      offset += this->ode_config.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETPHYSICSPROPERTIES; };
+    const char * getMD5(){ return "abd9f82732b52b92e9d6bb36e6a82452"; };
+
+  };
+
+  class SetPhysicsPropertiesResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    SetPhysicsPropertiesResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETPHYSICSPROPERTIES; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetPhysicsProperties {
+    public:
+    typedef SetPhysicsPropertiesRequest Request;
+    typedef SetPhysicsPropertiesResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SpawnModel.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SpawnModel.h
new file mode 100644
index 0000000..215b001
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/SpawnModel.h
@@ -0,0 +1,179 @@
+#ifndef _ROS_SERVICE_SpawnModel_h
+#define _ROS_SERVICE_SpawnModel_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+
+namespace gazebo_msgs
+{
+
+static const char SPAWNMODEL[] = "gazebo_msgs/SpawnModel";
+
+  class SpawnModelRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _model_name_type;
+      _model_name_type model_name;
+      typedef const char* _model_xml_type;
+      _model_xml_type model_xml;
+      typedef const char* _robot_namespace_type;
+      _robot_namespace_type robot_namespace;
+      typedef geometry_msgs::Pose _initial_pose_type;
+      _initial_pose_type initial_pose;
+      typedef const char* _reference_frame_type;
+      _reference_frame_type reference_frame;
+
+    SpawnModelRequest():
+      model_name(""),
+      model_xml(""),
+      robot_namespace(""),
+      initial_pose(),
+      reference_frame("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      varToArr(outbuffer + offset, length_model_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      uint32_t length_model_xml = strlen(this->model_xml);
+      varToArr(outbuffer + offset, length_model_xml);
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_xml, length_model_xml);
+      offset += length_model_xml;
+      uint32_t length_robot_namespace = strlen(this->robot_namespace);
+      varToArr(outbuffer + offset, length_robot_namespace);
+      offset += 4;
+      memcpy(outbuffer + offset, this->robot_namespace, length_robot_namespace);
+      offset += length_robot_namespace;
+      offset += this->initial_pose.serialize(outbuffer + offset);
+      uint32_t length_reference_frame = strlen(this->reference_frame);
+      varToArr(outbuffer + offset, length_reference_frame);
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
+      offset += length_reference_frame;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      arrToVar(length_model_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+      uint32_t length_model_xml;
+      arrToVar(length_model_xml, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_xml; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_xml-1]=0;
+      this->model_xml = (char *)(inbuffer + offset-1);
+      offset += length_model_xml;
+      uint32_t length_robot_namespace;
+      arrToVar(length_robot_namespace, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_robot_namespace; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_robot_namespace-1]=0;
+      this->robot_namespace = (char *)(inbuffer + offset-1);
+      offset += length_robot_namespace;
+      offset += this->initial_pose.deserialize(inbuffer + offset);
+      uint32_t length_reference_frame;
+      arrToVar(length_reference_frame, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame-1]=0;
+      this->reference_frame = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame;
+     return offset;
+    }
+
+    const char * getType(){ return SPAWNMODEL; };
+    const char * getMD5(){ return "6d0eba5753761cd57e6263a056b79930"; };
+
+  };
+
+  class SpawnModelResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    SpawnModelResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SPAWNMODEL; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SpawnModel {
+    public:
+    typedef SpawnModelRequest Request;
+    typedef SpawnModelResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/WorldState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/WorldState.h
new file mode 100644
index 0000000..43eb256
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/gazebo_msgs/WorldState.h
@@ -0,0 +1,159 @@
+#ifndef _ROS_gazebo_msgs_WorldState_h
+#define _ROS_gazebo_msgs_WorldState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+#include "geometry_msgs/Wrench.h"
+
+namespace gazebo_msgs
+{
+
+  class WorldState : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t name_length;
+      typedef char* _name_type;
+      _name_type st_name;
+      _name_type * name;
+      uint32_t pose_length;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type st_pose;
+      _pose_type * pose;
+      uint32_t twist_length;
+      typedef geometry_msgs::Twist _twist_type;
+      _twist_type st_twist;
+      _twist_type * twist;
+      uint32_t wrench_length;
+      typedef geometry_msgs::Wrench _wrench_type;
+      _wrench_type st_wrench;
+      _wrench_type * wrench;
+
+    WorldState():
+      header(),
+      name_length(0), name(NULL),
+      pose_length(0), pose(NULL),
+      twist_length(0), twist(NULL),
+      wrench_length(0), wrench(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->name_length);
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      varToArr(outbuffer + offset, length_namei);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset + 0) = (this->pose_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pose_length);
+      for( uint32_t i = 0; i < pose_length; i++){
+      offset += this->pose[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->twist_length);
+      for( uint32_t i = 0; i < twist_length; i++){
+      offset += this->twist[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->wrench_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->wrench_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->wrench_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->wrench_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->wrench_length);
+      for( uint32_t i = 0; i < wrench_length; i++){
+      offset += this->wrench[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->name_length);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      name_length = name_lengthT;
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      arrToVar(length_st_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint32_t pose_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->pose_length);
+      if(pose_lengthT > pose_length)
+        this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
+      pose_length = pose_lengthT;
+      for( uint32_t i = 0; i < pose_length; i++){
+      offset += this->st_pose.deserialize(inbuffer + offset);
+        memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
+      }
+      uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->twist_length);
+      if(twist_lengthT > twist_length)
+        this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
+      twist_length = twist_lengthT;
+      for( uint32_t i = 0; i < twist_length; i++){
+      offset += this->st_twist.deserialize(inbuffer + offset);
+        memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
+      }
+      uint32_t wrench_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->wrench_length);
+      if(wrench_lengthT > wrench_length)
+        this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench));
+      wrench_length = wrench_lengthT;
+      for( uint32_t i = 0; i < wrench_length; i++){
+      offset += this->st_wrench.deserialize(inbuffer + offset);
+        memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/WorldState"; };
+    const char * getMD5(){ return "de1a9de3ab7ba97ac0e9ec01a4eb481e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Accel.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Accel.h
new file mode 100644
index 0000000..b5931f6
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Accel.h
@@ -0,0 +1,49 @@
+#ifndef _ROS_geometry_msgs_Accel_h
+#define _ROS_geometry_msgs_Accel_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Accel : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::Vector3 _linear_type;
+      _linear_type linear;
+      typedef geometry_msgs::Vector3 _angular_type;
+      _angular_type angular;
+
+    Accel():
+      linear(),
+      angular()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->linear.serialize(outbuffer + offset);
+      offset += this->angular.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->linear.deserialize(inbuffer + offset);
+      offset += this->angular.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Accel"; };
+    const char * getMD5(){ return "9f195f881246fdfa2798d1d3eebca84a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/AccelStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/AccelStamped.h
new file mode 100644
index 0000000..d7f7858
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/AccelStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_AccelStamped_h
+#define _ROS_geometry_msgs_AccelStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Accel.h"
+
+namespace geometry_msgs
+{
+
+  class AccelStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Accel _accel_type;
+      _accel_type accel;
+
+    AccelStamped():
+      header(),
+      accel()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->accel.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->accel.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/AccelStamped"; };
+    const char * getMD5(){ return "d8a98a5d81351b6eb0578c78557e7659"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/AccelWithCovariance.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/AccelWithCovariance.h
new file mode 100644
index 0000000..9ce6ca2
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/AccelWithCovariance.h
@@ -0,0 +1,79 @@
+#ifndef _ROS_geometry_msgs_AccelWithCovariance_h
+#define _ROS_geometry_msgs_AccelWithCovariance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Accel.h"
+
+namespace geometry_msgs
+{
+
+  class AccelWithCovariance : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::Accel _accel_type;
+      _accel_type accel;
+      double covariance[36];
+
+    AccelWithCovariance():
+      accel(),
+      covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->accel.serialize(outbuffer + offset);
+      for( uint32_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.real = this->covariance[i];
+      *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->accel.deserialize(inbuffer + offset);
+      for( uint32_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.base = 0;
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->covariance[i] = u_covariancei.real;
+      offset += sizeof(this->covariance[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/AccelWithCovariance"; };
+    const char * getMD5(){ return "ad5a718d699c6be72a02b8d6a139f334"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/AccelWithCovarianceStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/AccelWithCovarianceStamped.h
new file mode 100644
index 0000000..3153d39
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/AccelWithCovarianceStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_AccelWithCovarianceStamped_h
+#define _ROS_geometry_msgs_AccelWithCovarianceStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/AccelWithCovariance.h"
+
+namespace geometry_msgs
+{
+
+  class AccelWithCovarianceStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::AccelWithCovariance _accel_type;
+      _accel_type accel;
+
+    AccelWithCovarianceStamped():
+      header(),
+      accel()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->accel.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->accel.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/AccelWithCovarianceStamped"; };
+    const char * getMD5(){ return "96adb295225031ec8d57fb4251b0a886"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Inertia.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Inertia.h
new file mode 100644
index 0000000..4c487c0
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Inertia.h
@@ -0,0 +1,268 @@
+#ifndef _ROS_geometry_msgs_Inertia_h
+#define _ROS_geometry_msgs_Inertia_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Inertia : public ros::Msg
+  {
+    public:
+      typedef double _m_type;
+      _m_type m;
+      typedef geometry_msgs::Vector3 _com_type;
+      _com_type com;
+      typedef double _ixx_type;
+      _ixx_type ixx;
+      typedef double _ixy_type;
+      _ixy_type ixy;
+      typedef double _ixz_type;
+      _ixz_type ixz;
+      typedef double _iyy_type;
+      _iyy_type iyy;
+      typedef double _iyz_type;
+      _iyz_type iyz;
+      typedef double _izz_type;
+      _izz_type izz;
+
+    Inertia():
+      m(0),
+      com(),
+      ixx(0),
+      ixy(0),
+      ixz(0),
+      iyy(0),
+      iyz(0),
+      izz(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_m;
+      u_m.real = this->m;
+      *(outbuffer + offset + 0) = (u_m.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m);
+      offset += this->com.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.real = this->ixx;
+      *(outbuffer + offset + 0) = (u_ixx.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixx.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixx.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixx.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixx.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixx.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixx.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixx.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.real = this->ixy;
+      *(outbuffer + offset + 0) = (u_ixy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.real = this->ixz;
+      *(outbuffer + offset + 0) = (u_ixz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.real = this->iyy;
+      *(outbuffer + offset + 0) = (u_iyy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.real = this->iyz;
+      *(outbuffer + offset + 0) = (u_iyz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.real = this->izz;
+      *(outbuffer + offset + 0) = (u_izz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_izz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_izz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_izz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_izz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_izz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_izz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_izz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->izz);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_m;
+      u_m.base = 0;
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m = u_m.real;
+      offset += sizeof(this->m);
+      offset += this->com.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.base = 0;
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixx = u_ixx.real;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.base = 0;
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixy = u_ixy.real;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.base = 0;
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixz = u_ixz.real;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.base = 0;
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyy = u_iyy.real;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.base = 0;
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyz = u_iyz.real;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.base = 0;
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->izz = u_izz.real;
+      offset += sizeof(this->izz);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Inertia"; };
+    const char * getMD5(){ return "1d26e4bb6c83ff141c5cf0d883c2b0fe"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/InertiaStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/InertiaStamped.h
new file mode 100644
index 0000000..2d8c944
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/InertiaStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_InertiaStamped_h
+#define _ROS_geometry_msgs_InertiaStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Inertia.h"
+
+namespace geometry_msgs
+{
+
+  class InertiaStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Inertia _inertia_type;
+      _inertia_type inertia;
+
+    InertiaStamped():
+      header(),
+      inertia()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->inertia.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->inertia.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/InertiaStamped"; };
+    const char * getMD5(){ return "ddee48caeab5a966c5e8d166654a9ac7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Point.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Point.h
new file mode 100644
index 0000000..3f39b62
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Point.h
@@ -0,0 +1,134 @@
+#ifndef _ROS_geometry_msgs_Point_h
+#define _ROS_geometry_msgs_Point_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Point : public ros::Msg
+  {
+    public:
+      typedef double _x_type;
+      _x_type x;
+      typedef double _y_type;
+      _y_type y;
+      typedef double _z_type;
+      _z_type z;
+
+    Point():
+      x(0),
+      y(0),
+      z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.real = this->z;
+      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.base = 0;
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->z = u_z.real;
+      offset += sizeof(this->z);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Point"; };
+    const char * getMD5(){ return "4a842b65f413084dc2b10fb484ea7f17"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Point32.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Point32.h
new file mode 100644
index 0000000..8c3b572
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Point32.h
@@ -0,0 +1,110 @@
+#ifndef _ROS_geometry_msgs_Point32_h
+#define _ROS_geometry_msgs_Point32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Point32 : public ros::Msg
+  {
+    public:
+      typedef float _x_type;
+      _x_type x;
+      typedef float _y_type;
+      _y_type y;
+      typedef float _z_type;
+      _z_type z;
+
+    Point32():
+      x(0),
+      y(0),
+      z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_z;
+      u_z.real = this->z;
+      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_z;
+      u_z.base = 0;
+      u_z.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_z.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_z.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_z.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->z = u_z.real;
+      offset += sizeof(this->z);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Point32"; };
+    const char * getMD5(){ return "cc153912f1453b708d221682bc23d9ac"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PointStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PointStamped.h
new file mode 100644
index 0000000..ce24530
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PointStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_PointStamped_h
+#define _ROS_geometry_msgs_PointStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+
+namespace geometry_msgs
+{
+
+  class PointStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Point _point_type;
+      _point_type point;
+
+    PointStamped():
+      header(),
+      point()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->point.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->point.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PointStamped"; };
+    const char * getMD5(){ return "c63aecb41bfdfd6b7e1fac37c7cbe7bf"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Polygon.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Polygon.h
new file mode 100644
index 0000000..8ff3276
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Polygon.h
@@ -0,0 +1,64 @@
+#ifndef _ROS_geometry_msgs_Polygon_h
+#define _ROS_geometry_msgs_Polygon_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Point32.h"
+
+namespace geometry_msgs
+{
+
+  class Polygon : public ros::Msg
+  {
+    public:
+      uint32_t points_length;
+      typedef geometry_msgs::Point32 _points_type;
+      _points_type st_points;
+      _points_type * points;
+
+    Polygon():
+      points_length(0), points(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->points_length);
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->points_length);
+      if(points_lengthT > points_length)
+        this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
+      points_length = points_lengthT;
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Polygon"; };
+    const char * getMD5(){ return "cd60a26494a087f577976f0329fa120e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PolygonStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PolygonStamped.h
new file mode 100644
index 0000000..badc359
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PolygonStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_PolygonStamped_h
+#define _ROS_geometry_msgs_PolygonStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Polygon.h"
+
+namespace geometry_msgs
+{
+
+  class PolygonStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Polygon _polygon_type;
+      _polygon_type polygon;
+
+    PolygonStamped():
+      header(),
+      polygon()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->polygon.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->polygon.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PolygonStamped"; };
+    const char * getMD5(){ return "c6be8f7dc3bee7fe9e8d296070f53340"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Pose.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Pose.h
new file mode 100644
index 0000000..70f986b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Pose.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_Pose_h
+#define _ROS_geometry_msgs_Pose_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Point.h"
+#include "geometry_msgs/Quaternion.h"
+
+namespace geometry_msgs
+{
+
+  class Pose : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::Point _position_type;
+      _position_type position;
+      typedef geometry_msgs::Quaternion _orientation_type;
+      _orientation_type orientation;
+
+    Pose():
+      position(),
+      orientation()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->position.serialize(outbuffer + offset);
+      offset += this->orientation.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->position.deserialize(inbuffer + offset);
+      offset += this->orientation.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Pose"; };
+    const char * getMD5(){ return "e45d45a5a1ce597b249e23fb30fc871f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Pose2D.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Pose2D.h
new file mode 100644
index 0000000..2858588
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Pose2D.h
@@ -0,0 +1,134 @@
+#ifndef _ROS_geometry_msgs_Pose2D_h
+#define _ROS_geometry_msgs_Pose2D_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Pose2D : public ros::Msg
+  {
+    public:
+      typedef double _x_type;
+      _x_type x;
+      typedef double _y_type;
+      _y_type y;
+      typedef double _theta_type;
+      _theta_type theta;
+
+    Pose2D():
+      x(0),
+      y(0),
+      theta(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_theta;
+      u_theta.real = this->theta;
+      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_theta.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_theta.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_theta.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_theta.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->theta);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_theta;
+      u_theta.base = 0;
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->theta = u_theta.real;
+      offset += sizeof(this->theta);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Pose2D"; };
+    const char * getMD5(){ return "938fa65709584ad8e77d238529be13b8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseArray.h
new file mode 100644
index 0000000..9e6a89e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseArray.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_geometry_msgs_PoseArray_h
+#define _ROS_geometry_msgs_PoseArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+
+namespace geometry_msgs
+{
+
+  class PoseArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t poses_length;
+      typedef geometry_msgs::Pose _poses_type;
+      _poses_type st_poses;
+      _poses_type * poses;
+
+    PoseArray():
+      header(),
+      poses_length(0), poses(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->poses_length);
+      for( uint32_t i = 0; i < poses_length; i++){
+      offset += this->poses[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->poses_length);
+      if(poses_lengthT > poses_length)
+        this->poses = (geometry_msgs::Pose*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::Pose));
+      poses_length = poses_lengthT;
+      for( uint32_t i = 0; i < poses_length; i++){
+      offset += this->st_poses.deserialize(inbuffer + offset);
+        memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::Pose));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PoseArray"; };
+    const char * getMD5(){ return "916c28c5764443f268b296bb671b9d97"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseStamped.h
new file mode 100644
index 0000000..cb79251
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_PoseStamped_h
+#define _ROS_geometry_msgs_PoseStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+
+namespace geometry_msgs
+{
+
+  class PoseStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type pose;
+
+    PoseStamped():
+      header(),
+      pose()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->pose.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->pose.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PoseStamped"; };
+    const char * getMD5(){ return "d3812c3cbc69362b77dc0b19b345f8f5"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseWithCovariance.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseWithCovariance.h
new file mode 100644
index 0000000..fb80aaf
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseWithCovariance.h
@@ -0,0 +1,79 @@
+#ifndef _ROS_geometry_msgs_PoseWithCovariance_h
+#define _ROS_geometry_msgs_PoseWithCovariance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+
+namespace geometry_msgs
+{
+
+  class PoseWithCovariance : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type pose;
+      double covariance[36];
+
+    PoseWithCovariance():
+      pose(),
+      covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->pose.serialize(outbuffer + offset);
+      for( uint32_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.real = this->covariance[i];
+      *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->pose.deserialize(inbuffer + offset);
+      for( uint32_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.base = 0;
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->covariance[i] = u_covariancei.real;
+      offset += sizeof(this->covariance[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PoseWithCovariance"; };
+    const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseWithCovarianceStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseWithCovarianceStamped.h
new file mode 100644
index 0000000..db623cd
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/PoseWithCovarianceStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_PoseWithCovarianceStamped_h
+#define _ROS_geometry_msgs_PoseWithCovarianceStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/PoseWithCovariance.h"
+
+namespace geometry_msgs
+{
+
+  class PoseWithCovarianceStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::PoseWithCovariance _pose_type;
+      _pose_type pose;
+
+    PoseWithCovarianceStamped():
+      header(),
+      pose()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->pose.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->pose.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PoseWithCovarianceStamped"; };
+    const char * getMD5(){ return "953b798c0f514ff060a53a3498ce6246"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Quaternion.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Quaternion.h
new file mode 100644
index 0000000..ac0cd03
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Quaternion.h
@@ -0,0 +1,166 @@
+#ifndef _ROS_geometry_msgs_Quaternion_h
+#define _ROS_geometry_msgs_Quaternion_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Quaternion : public ros::Msg
+  {
+    public:
+      typedef double _x_type;
+      _x_type x;
+      typedef double _y_type;
+      _y_type y;
+      typedef double _z_type;
+      _z_type z;
+      typedef double _w_type;
+      _w_type w;
+
+    Quaternion():
+      x(0),
+      y(0),
+      z(0),
+      w(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.real = this->z;
+      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->z);
+      union {
+        double real;
+        uint64_t base;
+      } u_w;
+      u_w.real = this->w;
+      *(outbuffer + offset + 0) = (u_w.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_w.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_w.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_w.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_w.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_w.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_w.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_w.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->w);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.base = 0;
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->z = u_z.real;
+      offset += sizeof(this->z);
+      union {
+        double real;
+        uint64_t base;
+      } u_w;
+      u_w.base = 0;
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->w = u_w.real;
+      offset += sizeof(this->w);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Quaternion"; };
+    const char * getMD5(){ return "a779879fadf0160734f906b8c19c7004"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/QuaternionStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/QuaternionStamped.h
new file mode 100644
index 0000000..626358d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/QuaternionStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_QuaternionStamped_h
+#define _ROS_geometry_msgs_QuaternionStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Quaternion.h"
+
+namespace geometry_msgs
+{
+
+  class QuaternionStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Quaternion _quaternion_type;
+      _quaternion_type quaternion;
+
+    QuaternionStamped():
+      header(),
+      quaternion()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->quaternion.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->quaternion.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/QuaternionStamped"; };
+    const char * getMD5(){ return "e57f1e547e0e1fd13504588ffc8334e2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Transform.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Transform.h
new file mode 100644
index 0000000..27a9944
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Transform.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_Transform_h
+#define _ROS_geometry_msgs_Transform_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+#include "geometry_msgs/Quaternion.h"
+
+namespace geometry_msgs
+{
+
+  class Transform : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::Vector3 _translation_type;
+      _translation_type translation;
+      typedef geometry_msgs::Quaternion _rotation_type;
+      _rotation_type rotation;
+
+    Transform():
+      translation(),
+      rotation()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->translation.serialize(outbuffer + offset);
+      offset += this->rotation.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->translation.deserialize(inbuffer + offset);
+      offset += this->rotation.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Transform"; };
+    const char * getMD5(){ return "ac9eff44abf714214112b05d54a3cf9b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TransformStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TransformStamped.h
new file mode 100644
index 0000000..b197b54
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TransformStamped.h
@@ -0,0 +1,67 @@
+#ifndef _ROS_geometry_msgs_TransformStamped_h
+#define _ROS_geometry_msgs_TransformStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Transform.h"
+
+namespace geometry_msgs
+{
+
+  class TransformStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _child_frame_id_type;
+      _child_frame_id_type child_frame_id;
+      typedef geometry_msgs::Transform _transform_type;
+      _transform_type transform;
+
+    TransformStamped():
+      header(),
+      child_frame_id(""),
+      transform()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_child_frame_id = strlen(this->child_frame_id);
+      varToArr(outbuffer + offset, length_child_frame_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
+      offset += length_child_frame_id;
+      offset += this->transform.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_child_frame_id;
+      arrToVar(length_child_frame_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_child_frame_id-1]=0;
+      this->child_frame_id = (char *)(inbuffer + offset-1);
+      offset += length_child_frame_id;
+      offset += this->transform.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/TransformStamped"; };
+    const char * getMD5(){ return "b5764a33bfeb3588febc2682852579b0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Twist.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Twist.h
new file mode 100644
index 0000000..026dae0
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Twist.h
@@ -0,0 +1,49 @@
+#ifndef _ROS_geometry_msgs_Twist_h
+#define _ROS_geometry_msgs_Twist_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Twist : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::Vector3 _linear_type;
+      _linear_type linear;
+      typedef geometry_msgs::Vector3 _angular_type;
+      _angular_type angular;
+
+    Twist():
+      linear(),
+      angular()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->linear.serialize(outbuffer + offset);
+      offset += this->angular.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->linear.deserialize(inbuffer + offset);
+      offset += this->angular.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Twist"; };
+    const char * getMD5(){ return "9f195f881246fdfa2798d1d3eebca84a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TwistStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TwistStamped.h
new file mode 100644
index 0000000..40143c8
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TwistStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_TwistStamped_h
+#define _ROS_geometry_msgs_TwistStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Twist.h"
+
+namespace geometry_msgs
+{
+
+  class TwistStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Twist _twist_type;
+      _twist_type twist;
+
+    TwistStamped():
+      header(),
+      twist()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/TwistStamped"; };
+    const char * getMD5(){ return "98d34b0043a2093cf9d9345ab6eef12e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TwistWithCovariance.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TwistWithCovariance.h
new file mode 100644
index 0000000..e651711
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TwistWithCovariance.h
@@ -0,0 +1,79 @@
+#ifndef _ROS_geometry_msgs_TwistWithCovariance_h
+#define _ROS_geometry_msgs_TwistWithCovariance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Twist.h"
+
+namespace geometry_msgs
+{
+
+  class TwistWithCovariance : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::Twist _twist_type;
+      _twist_type twist;
+      double covariance[36];
+
+    TwistWithCovariance():
+      twist(),
+      covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->twist.serialize(outbuffer + offset);
+      for( uint32_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.real = this->covariance[i];
+      *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->twist.deserialize(inbuffer + offset);
+      for( uint32_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.base = 0;
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->covariance[i] = u_covariancei.real;
+      offset += sizeof(this->covariance[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/TwistWithCovariance"; };
+    const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TwistWithCovarianceStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TwistWithCovarianceStamped.h
new file mode 100644
index 0000000..701edff
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/TwistWithCovarianceStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_TwistWithCovarianceStamped_h
+#define _ROS_geometry_msgs_TwistWithCovarianceStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/TwistWithCovariance.h"
+
+namespace geometry_msgs
+{
+
+  class TwistWithCovarianceStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::TwistWithCovariance _twist_type;
+      _twist_type twist;
+
+    TwistWithCovarianceStamped():
+      header(),
+      twist()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/TwistWithCovarianceStamped"; };
+    const char * getMD5(){ return "8927a1a12fb2607ceea095b2dc440a96"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Vector3.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Vector3.h
new file mode 100644
index 0000000..e58fffc
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Vector3.h
@@ -0,0 +1,134 @@
+#ifndef _ROS_geometry_msgs_Vector3_h
+#define _ROS_geometry_msgs_Vector3_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Vector3 : public ros::Msg
+  {
+    public:
+      typedef double _x_type;
+      _x_type x;
+      typedef double _y_type;
+      _y_type y;
+      typedef double _z_type;
+      _z_type z;
+
+    Vector3():
+      x(0),
+      y(0),
+      z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.real = this->z;
+      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.base = 0;
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->z = u_z.real;
+      offset += sizeof(this->z);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Vector3"; };
+    const char * getMD5(){ return "4a842b65f413084dc2b10fb484ea7f17"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Vector3Stamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Vector3Stamped.h
new file mode 100644
index 0000000..9032066
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Vector3Stamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_Vector3Stamped_h
+#define _ROS_geometry_msgs_Vector3Stamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Vector3Stamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Vector3 _vector_type;
+      _vector_type vector;
+
+    Vector3Stamped():
+      header(),
+      vector()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->vector.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->vector.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Vector3Stamped"; };
+    const char * getMD5(){ return "7b324c7325e683bf02a9b14b01090ec7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Wrench.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Wrench.h
new file mode 100644
index 0000000..52e5934
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/Wrench.h
@@ -0,0 +1,49 @@
+#ifndef _ROS_geometry_msgs_Wrench_h
+#define _ROS_geometry_msgs_Wrench_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Wrench : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::Vector3 _force_type;
+      _force_type force;
+      typedef geometry_msgs::Vector3 _torque_type;
+      _torque_type torque;
+
+    Wrench():
+      force(),
+      torque()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->force.serialize(outbuffer + offset);
+      offset += this->torque.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->force.deserialize(inbuffer + offset);
+      offset += this->torque.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Wrench"; };
+    const char * getMD5(){ return "4f539cf138b23283b520fd271b567936"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/WrenchStamped.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/WrenchStamped.h
new file mode 100644
index 0000000..41b82f9
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/geometry_msgs/WrenchStamped.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_geometry_msgs_WrenchStamped_h
+#define _ROS_geometry_msgs_WrenchStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Wrench.h"
+
+namespace geometry_msgs
+{
+
+  class WrenchStamped : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Wrench _wrench_type;
+      _wrench_type wrench;
+
+    WrenchStamped():
+      header(),
+      wrench()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->wrench.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->wrench.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/WrenchStamped"; };
+    const char * getMD5(){ return "d78d3cb249ce23087ade7e7d0c40cfa7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/kinect_v2/BodyJoints.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/kinect_v2/BodyJoints.h
new file mode 100644
index 0000000..2b13aa3
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/kinect_v2/BodyJoints.h
@@ -0,0 +1,88 @@
+#ifndef _ROS_kinect_v2_BodyJoints_h
+#define _ROS_kinect_v2_BodyJoints_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+
+namespace kinect_v2
+{
+
+  class BodyJoints : public ros::Msg
+  {
+    public:
+      typedef int32_t _user_id_type;
+      _user_id_type user_id;
+      typedef const char* _tracked_type;
+      _tracked_type tracked;
+      geometry_msgs::Pose joints[16];
+
+    BodyJoints():
+      user_id(0),
+      tracked(""),
+      joints()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_user_id;
+      u_user_id.real = this->user_id;
+      *(outbuffer + offset + 0) = (u_user_id.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_user_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_user_id.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_user_id.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->user_id);
+      uint32_t length_tracked = strlen(this->tracked);
+      varToArr(outbuffer + offset, length_tracked);
+      offset += 4;
+      memcpy(outbuffer + offset, this->tracked, length_tracked);
+      offset += length_tracked;
+      for( uint32_t i = 0; i < 16; i++){
+      offset += this->joints[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_user_id;
+      u_user_id.base = 0;
+      u_user_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_user_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_user_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_user_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->user_id = u_user_id.real;
+      offset += sizeof(this->user_id);
+      uint32_t length_tracked;
+      arrToVar(length_tracked, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_tracked; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_tracked-1]=0;
+      this->tracked = (char *)(inbuffer + offset-1);
+      offset += length_tracked;
+      for( uint32_t i = 0; i < 16; i++){
+      offset += this->joints[i].deserialize(inbuffer + offset);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "kinect_v2/BodyJoints"; };
+    const char * getMD5(){ return "61535990ee807ee844649627b51297c2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/laser_assembler/AssembleScans.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/laser_assembler/AssembleScans.h
new file mode 100644
index 0000000..7aa8745
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/laser_assembler/AssembleScans.h
@@ -0,0 +1,123 @@
+#ifndef _ROS_SERVICE_AssembleScans_h
+#define _ROS_SERVICE_AssembleScans_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+#include "sensor_msgs/PointCloud.h"
+
+namespace laser_assembler
+{
+
+static const char ASSEMBLESCANS[] = "laser_assembler/AssembleScans";
+
+  class AssembleScansRequest : public ros::Msg
+  {
+    public:
+      typedef ros::Time _begin_type;
+      _begin_type begin;
+      typedef ros::Time _end_type;
+      _end_type end;
+
+    AssembleScansRequest():
+      begin(),
+      end()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->begin.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->begin.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->begin.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->begin.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->begin.sec);
+      *(outbuffer + offset + 0) = (this->begin.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->begin.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->begin.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->begin.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->begin.nsec);
+      *(outbuffer + offset + 0) = (this->end.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->end.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->end.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->end.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->end.sec);
+      *(outbuffer + offset + 0) = (this->end.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->end.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->end.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->end.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->end.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->begin.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->begin.sec);
+      this->begin.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->begin.nsec);
+      this->end.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->end.sec);
+      this->end.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->end.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return ASSEMBLESCANS; };
+    const char * getMD5(){ return "b341004f74e15bf5e1b2053a9183bdc7"; };
+
+  };
+
+  class AssembleScansResponse : public ros::Msg
+  {
+    public:
+      typedef sensor_msgs::PointCloud _cloud_type;
+      _cloud_type cloud;
+
+    AssembleScansResponse():
+      cloud()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->cloud.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->cloud.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return ASSEMBLESCANS; };
+    const char * getMD5(){ return "4217b28a903e4ad7869a83b3653110ff"; };
+
+  };
+
+  class AssembleScans {
+    public:
+    typedef AssembleScansRequest Request;
+    typedef AssembleScansResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/laser_assembler/AssembleScans2.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/laser_assembler/AssembleScans2.h
new file mode 100644
index 0000000..ae2f6b7
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/laser_assembler/AssembleScans2.h
@@ -0,0 +1,123 @@
+#ifndef _ROS_SERVICE_AssembleScans2_h
+#define _ROS_SERVICE_AssembleScans2_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "ros/time.h"
+
+namespace laser_assembler
+{
+
+static const char ASSEMBLESCANS2[] = "laser_assembler/AssembleScans2";
+
+  class AssembleScans2Request : public ros::Msg
+  {
+    public:
+      typedef ros::Time _begin_type;
+      _begin_type begin;
+      typedef ros::Time _end_type;
+      _end_type end;
+
+    AssembleScans2Request():
+      begin(),
+      end()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->begin.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->begin.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->begin.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->begin.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->begin.sec);
+      *(outbuffer + offset + 0) = (this->begin.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->begin.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->begin.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->begin.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->begin.nsec);
+      *(outbuffer + offset + 0) = (this->end.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->end.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->end.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->end.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->end.sec);
+      *(outbuffer + offset + 0) = (this->end.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->end.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->end.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->end.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->end.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->begin.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->begin.sec);
+      this->begin.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->begin.nsec);
+      this->end.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->end.sec);
+      this->end.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->end.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return ASSEMBLESCANS2; };
+    const char * getMD5(){ return "b341004f74e15bf5e1b2053a9183bdc7"; };
+
+  };
+
+  class AssembleScans2Response : public ros::Msg
+  {
+    public:
+      typedef sensor_msgs::PointCloud2 _cloud_type;
+      _cloud_type cloud;
+
+    AssembleScans2Response():
+      cloud()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->cloud.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->cloud.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return ASSEMBLESCANS2; };
+    const char * getMD5(){ return "96cec5374164b3b3d1d7ef5d7628a7ed"; };
+
+  };
+
+  class AssembleScans2 {
+    public:
+    typedef AssembleScans2Request Request;
+    typedef AssembleScans2Response Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/GetMapROI.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/GetMapROI.h
new file mode 100644
index 0000000..3d39495
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/GetMapROI.h
@@ -0,0 +1,204 @@
+#ifndef _ROS_SERVICE_GetMapROI_h
+#define _ROS_SERVICE_GetMapROI_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/OccupancyGrid.h"
+
+namespace map_msgs
+{
+
+static const char GETMAPROI[] = "map_msgs/GetMapROI";
+
+  class GetMapROIRequest : public ros::Msg
+  {
+    public:
+      typedef double _x_type;
+      _x_type x;
+      typedef double _y_type;
+      _y_type y;
+      typedef double _l_x_type;
+      _l_x_type l_x;
+      typedef double _l_y_type;
+      _l_y_type l_y;
+
+    GetMapROIRequest():
+      x(0),
+      y(0),
+      l_x(0),
+      l_y(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_x;
+      u_l_x.real = this->l_x;
+      *(outbuffer + offset + 0) = (u_l_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_l_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_l_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_l_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_l_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_l_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_l_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_l_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->l_x);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_y;
+      u_l_y.real = this->l_y;
+      *(outbuffer + offset + 0) = (u_l_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_l_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_l_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_l_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_l_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_l_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_l_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_l_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->l_y);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_x;
+      u_l_x.base = 0;
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->l_x = u_l_x.real;
+      offset += sizeof(this->l_x);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_y;
+      u_l_y.base = 0;
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->l_y = u_l_y.real;
+      offset += sizeof(this->l_y);
+     return offset;
+    }
+
+    const char * getType(){ return GETMAPROI; };
+    const char * getMD5(){ return "43c2ff8f45af555c0eaf070c401e9a47"; };
+
+  };
+
+  class GetMapROIResponse : public ros::Msg
+  {
+    public:
+      typedef nav_msgs::OccupancyGrid _sub_map_type;
+      _sub_map_type sub_map;
+
+    GetMapROIResponse():
+      sub_map()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->sub_map.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->sub_map.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETMAPROI; };
+    const char * getMD5(){ return "4d1986519c00d81967d2891a606b234c"; };
+
+  };
+
+  class GetMapROI {
+    public:
+    typedef GetMapROIRequest Request;
+    typedef GetMapROIResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/GetPointMap.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/GetPointMap.h
new file mode 100644
index 0000000..3da8ab1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/GetPointMap.h
@@ -0,0 +1,76 @@
+#ifndef _ROS_SERVICE_GetPointMap_h
+#define _ROS_SERVICE_GetPointMap_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/PointCloud2.h"
+
+namespace map_msgs
+{
+
+static const char GETPOINTMAP[] = "map_msgs/GetPointMap";
+
+  class GetPointMapRequest : public ros::Msg
+  {
+    public:
+
+    GetPointMapRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETPOINTMAP; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetPointMapResponse : public ros::Msg
+  {
+    public:
+      typedef sensor_msgs::PointCloud2 _map_type;
+      _map_type map;
+
+    GetPointMapResponse():
+      map()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->map.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->map.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETPOINTMAP; };
+    const char * getMD5(){ return "b84fbb39505086eb6a62d933c75cb7b4"; };
+
+  };
+
+  class GetPointMap {
+    public:
+    typedef GetPointMapRequest Request;
+    typedef GetPointMapResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/GetPointMapROI.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/GetPointMapROI.h
new file mode 100644
index 0000000..b7c4cda
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/GetPointMapROI.h
@@ -0,0 +1,300 @@
+#ifndef _ROS_SERVICE_GetPointMapROI_h
+#define _ROS_SERVICE_GetPointMapROI_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/PointCloud2.h"
+
+namespace map_msgs
+{
+
+static const char GETPOINTMAPROI[] = "map_msgs/GetPointMapROI";
+
+  class GetPointMapROIRequest : public ros::Msg
+  {
+    public:
+      typedef double _x_type;
+      _x_type x;
+      typedef double _y_type;
+      _y_type y;
+      typedef double _z_type;
+      _z_type z;
+      typedef double _r_type;
+      _r_type r;
+      typedef double _l_x_type;
+      _l_x_type l_x;
+      typedef double _l_y_type;
+      _l_y_type l_y;
+      typedef double _l_z_type;
+      _l_z_type l_z;
+
+    GetPointMapROIRequest():
+      x(0),
+      y(0),
+      z(0),
+      r(0),
+      l_x(0),
+      l_y(0),
+      l_z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.real = this->z;
+      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->z);
+      union {
+        double real;
+        uint64_t base;
+      } u_r;
+      u_r.real = this->r;
+      *(outbuffer + offset + 0) = (u_r.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_r.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_r.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_r.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_r.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_r.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_r.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_r.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->r);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_x;
+      u_l_x.real = this->l_x;
+      *(outbuffer + offset + 0) = (u_l_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_l_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_l_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_l_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_l_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_l_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_l_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_l_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->l_x);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_y;
+      u_l_y.real = this->l_y;
+      *(outbuffer + offset + 0) = (u_l_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_l_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_l_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_l_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_l_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_l_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_l_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_l_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->l_y);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_z;
+      u_l_z.real = this->l_z;
+      *(outbuffer + offset + 0) = (u_l_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_l_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_l_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_l_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_l_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_l_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_l_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_l_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->l_z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.base = 0;
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->z = u_z.real;
+      offset += sizeof(this->z);
+      union {
+        double real;
+        uint64_t base;
+      } u_r;
+      u_r.base = 0;
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->r = u_r.real;
+      offset += sizeof(this->r);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_x;
+      u_l_x.base = 0;
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->l_x = u_l_x.real;
+      offset += sizeof(this->l_x);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_y;
+      u_l_y.base = 0;
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->l_y = u_l_y.real;
+      offset += sizeof(this->l_y);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_z;
+      u_l_z.base = 0;
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->l_z = u_l_z.real;
+      offset += sizeof(this->l_z);
+     return offset;
+    }
+
+    const char * getType(){ return GETPOINTMAPROI; };
+    const char * getMD5(){ return "895f7e437a9a6dd225316872b187a303"; };
+
+  };
+
+  class GetPointMapROIResponse : public ros::Msg
+  {
+    public:
+      typedef sensor_msgs::PointCloud2 _sub_map_type;
+      _sub_map_type sub_map;
+
+    GetPointMapROIResponse():
+      sub_map()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->sub_map.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->sub_map.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETPOINTMAPROI; };
+    const char * getMD5(){ return "313769f8b0e724525c6463336cbccd63"; };
+
+  };
+
+  class GetPointMapROI {
+    public:
+    typedef GetPointMapROIRequest Request;
+    typedef GetPointMapROIResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/OccupancyGridUpdate.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/OccupancyGridUpdate.h
new file mode 100644
index 0000000..23590d2
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/OccupancyGridUpdate.h
@@ -0,0 +1,156 @@
+#ifndef _ROS_map_msgs_OccupancyGridUpdate_h
+#define _ROS_map_msgs_OccupancyGridUpdate_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace map_msgs
+{
+
+  class OccupancyGridUpdate : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef int32_t _x_type;
+      _x_type x;
+      typedef int32_t _y_type;
+      _y_type y;
+      typedef uint32_t _width_type;
+      _width_type width;
+      typedef uint32_t _height_type;
+      _height_type height;
+      uint32_t data_length;
+      typedef int8_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    OccupancyGridUpdate():
+      header(),
+      x(0),
+      y(0),
+      width(0),
+      height(0),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "map_msgs/OccupancyGridUpdate"; };
+    const char * getMD5(){ return "b295be292b335c34718bd939deebe1c9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/PointCloud2Update.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/PointCloud2Update.h
new file mode 100644
index 0000000..eee4cb1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/PointCloud2Update.h
@@ -0,0 +1,65 @@
+#ifndef _ROS_map_msgs_PointCloud2Update_h
+#define _ROS_map_msgs_PointCloud2Update_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/PointCloud2.h"
+
+namespace map_msgs
+{
+
+  class PointCloud2Update : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef uint32_t _type_type;
+      _type_type type;
+      typedef sensor_msgs::PointCloud2 _points_type;
+      _points_type points;
+      enum { ADD = 0 };
+      enum { DELETE = 1 };
+
+    PointCloud2Update():
+      header(),
+      type(0),
+      points()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->type >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->type >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->type >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->type);
+      offset += this->points.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->type =  ((uint32_t) (*(inbuffer + offset)));
+      this->type |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->type |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->type |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->type);
+      offset += this->points.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "map_msgs/PointCloud2Update"; };
+    const char * getMD5(){ return "6c58e4f249ae9cd2b24fb1ee0f99195e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/ProjectedMap.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/ProjectedMap.h
new file mode 100644
index 0000000..84e5be5
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/ProjectedMap.h
@@ -0,0 +1,108 @@
+#ifndef _ROS_map_msgs_ProjectedMap_h
+#define _ROS_map_msgs_ProjectedMap_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/OccupancyGrid.h"
+
+namespace map_msgs
+{
+
+  class ProjectedMap : public ros::Msg
+  {
+    public:
+      typedef nav_msgs::OccupancyGrid _map_type;
+      _map_type map;
+      typedef double _min_z_type;
+      _min_z_type min_z;
+      typedef double _max_z_type;
+      _max_z_type max_z;
+
+    ProjectedMap():
+      map(),
+      min_z(0),
+      max_z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->map.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_min_z;
+      u_min_z.real = this->min_z;
+      *(outbuffer + offset + 0) = (u_min_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_min_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_min_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_min_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_min_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_min_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_min_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_min_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->min_z);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_z;
+      u_max_z.real = this->max_z;
+      *(outbuffer + offset + 0) = (u_max_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->map.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_min_z;
+      u_min_z.base = 0;
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->min_z = u_min_z.real;
+      offset += sizeof(this->min_z);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_z;
+      u_max_z.base = 0;
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_z = u_max_z.real;
+      offset += sizeof(this->max_z);
+     return offset;
+    }
+
+    const char * getType(){ return "map_msgs/ProjectedMap"; };
+    const char * getMD5(){ return "7bbe8f96e45089681dc1ea7d023cbfca"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/ProjectedMapInfo.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/ProjectedMapInfo.h
new file mode 100644
index 0000000..5c7456e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/ProjectedMapInfo.h
@@ -0,0 +1,247 @@
+#ifndef _ROS_map_msgs_ProjectedMapInfo_h
+#define _ROS_map_msgs_ProjectedMapInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace map_msgs
+{
+
+  class ProjectedMapInfo : public ros::Msg
+  {
+    public:
+      typedef const char* _frame_id_type;
+      _frame_id_type frame_id;
+      typedef double _x_type;
+      _x_type x;
+      typedef double _y_type;
+      _y_type y;
+      typedef double _width_type;
+      _width_type width;
+      typedef double _height_type;
+      _height_type height;
+      typedef double _min_z_type;
+      _min_z_type min_z;
+      typedef double _max_z_type;
+      _max_z_type max_z;
+
+    ProjectedMapInfo():
+      frame_id(""),
+      x(0),
+      y(0),
+      width(0),
+      height(0),
+      min_z(0),
+      max_z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_frame_id = strlen(this->frame_id);
+      varToArr(outbuffer + offset, length_frame_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->frame_id, length_frame_id);
+      offset += length_frame_id;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_width;
+      u_width.real = this->width;
+      *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_width.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_width.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_width.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_width.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->width);
+      union {
+        double real;
+        uint64_t base;
+      } u_height;
+      u_height.real = this->height;
+      *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_height.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_height.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_height.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_height.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->height);
+      union {
+        double real;
+        uint64_t base;
+      } u_min_z;
+      u_min_z.real = this->min_z;
+      *(outbuffer + offset + 0) = (u_min_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_min_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_min_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_min_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_min_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_min_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_min_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_min_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->min_z);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_z;
+      u_max_z.real = this->max_z;
+      *(outbuffer + offset + 0) = (u_max_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_frame_id;
+      arrToVar(length_frame_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_frame_id-1]=0;
+      this->frame_id = (char *)(inbuffer + offset-1);
+      offset += length_frame_id;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_width;
+      u_width.base = 0;
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->width = u_width.real;
+      offset += sizeof(this->width);
+      union {
+        double real;
+        uint64_t base;
+      } u_height;
+      u_height.base = 0;
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->height = u_height.real;
+      offset += sizeof(this->height);
+      union {
+        double real;
+        uint64_t base;
+      } u_min_z;
+      u_min_z.base = 0;
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->min_z = u_min_z.real;
+      offset += sizeof(this->min_z);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_z;
+      u_max_z.base = 0;
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_z = u_max_z.real;
+      offset += sizeof(this->max_z);
+     return offset;
+    }
+
+    const char * getType(){ return "map_msgs/ProjectedMapInfo"; };
+    const char * getMD5(){ return "2dc10595ae94de23f22f8a6d2a0eef7a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/ProjectedMapsInfo.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/ProjectedMapsInfo.h
new file mode 100644
index 0000000..b515b94
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/ProjectedMapsInfo.h
@@ -0,0 +1,96 @@
+#ifndef _ROS_SERVICE_ProjectedMapsInfo_h
+#define _ROS_SERVICE_ProjectedMapsInfo_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "map_msgs/ProjectedMapInfo.h"
+
+namespace map_msgs
+{
+
+static const char PROJECTEDMAPSINFO[] = "map_msgs/ProjectedMapsInfo";
+
+  class ProjectedMapsInfoRequest : public ros::Msg
+  {
+    public:
+      uint32_t projected_maps_info_length;
+      typedef map_msgs::ProjectedMapInfo _projected_maps_info_type;
+      _projected_maps_info_type st_projected_maps_info;
+      _projected_maps_info_type * projected_maps_info;
+
+    ProjectedMapsInfoRequest():
+      projected_maps_info_length(0), projected_maps_info(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->projected_maps_info_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->projected_maps_info_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->projected_maps_info_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->projected_maps_info_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->projected_maps_info_length);
+      for( uint32_t i = 0; i < projected_maps_info_length; i++){
+      offset += this->projected_maps_info[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t projected_maps_info_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      projected_maps_info_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      projected_maps_info_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      projected_maps_info_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->projected_maps_info_length);
+      if(projected_maps_info_lengthT > projected_maps_info_length)
+        this->projected_maps_info = (map_msgs::ProjectedMapInfo*)realloc(this->projected_maps_info, projected_maps_info_lengthT * sizeof(map_msgs::ProjectedMapInfo));
+      projected_maps_info_length = projected_maps_info_lengthT;
+      for( uint32_t i = 0; i < projected_maps_info_length; i++){
+      offset += this->st_projected_maps_info.deserialize(inbuffer + offset);
+        memcpy( &(this->projected_maps_info[i]), &(this->st_projected_maps_info), sizeof(map_msgs::ProjectedMapInfo));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return PROJECTEDMAPSINFO; };
+    const char * getMD5(){ return "d7980a33202421c8cd74565e57a4d229"; };
+
+  };
+
+  class ProjectedMapsInfoResponse : public ros::Msg
+  {
+    public:
+
+    ProjectedMapsInfoResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return PROJECTEDMAPSINFO; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class ProjectedMapsInfo {
+    public:
+    typedef ProjectedMapsInfoRequest Request;
+    typedef ProjectedMapsInfoResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/SaveMap.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/SaveMap.h
new file mode 100644
index 0000000..c304c22
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/SaveMap.h
@@ -0,0 +1,76 @@
+#ifndef _ROS_SERVICE_SaveMap_h
+#define _ROS_SERVICE_SaveMap_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/String.h"
+
+namespace map_msgs
+{
+
+static const char SAVEMAP[] = "map_msgs/SaveMap";
+
+  class SaveMapRequest : public ros::Msg
+  {
+    public:
+      typedef std_msgs::String _filename_type;
+      _filename_type filename;
+
+    SaveMapRequest():
+      filename()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->filename.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->filename.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SAVEMAP; };
+    const char * getMD5(){ return "716e25f9d9dc76ceba197f93cbf05dc7"; };
+
+  };
+
+  class SaveMapResponse : public ros::Msg
+  {
+    public:
+
+    SaveMapResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SAVEMAP; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SaveMap {
+    public:
+    typedef SaveMapRequest Request;
+    typedef SaveMapResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/SetMapProjections.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/SetMapProjections.h
new file mode 100644
index 0000000..1ead172
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/map_msgs/SetMapProjections.h
@@ -0,0 +1,96 @@
+#ifndef _ROS_SERVICE_SetMapProjections_h
+#define _ROS_SERVICE_SetMapProjections_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "map_msgs/ProjectedMapInfo.h"
+
+namespace map_msgs
+{
+
+static const char SETMAPPROJECTIONS[] = "map_msgs/SetMapProjections";
+
+  class SetMapProjectionsRequest : public ros::Msg
+  {
+    public:
+
+    SetMapProjectionsRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SETMAPPROJECTIONS; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SetMapProjectionsResponse : public ros::Msg
+  {
+    public:
+      uint32_t projected_maps_info_length;
+      typedef map_msgs::ProjectedMapInfo _projected_maps_info_type;
+      _projected_maps_info_type st_projected_maps_info;
+      _projected_maps_info_type * projected_maps_info;
+
+    SetMapProjectionsResponse():
+      projected_maps_info_length(0), projected_maps_info(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->projected_maps_info_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->projected_maps_info_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->projected_maps_info_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->projected_maps_info_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->projected_maps_info_length);
+      for( uint32_t i = 0; i < projected_maps_info_length; i++){
+      offset += this->projected_maps_info[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t projected_maps_info_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      projected_maps_info_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      projected_maps_info_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      projected_maps_info_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->projected_maps_info_length);
+      if(projected_maps_info_lengthT > projected_maps_info_length)
+        this->projected_maps_info = (map_msgs::ProjectedMapInfo*)realloc(this->projected_maps_info, projected_maps_info_lengthT * sizeof(map_msgs::ProjectedMapInfo));
+      projected_maps_info_length = projected_maps_info_lengthT;
+      for( uint32_t i = 0; i < projected_maps_info_length; i++){
+      offset += this->st_projected_maps_info.deserialize(inbuffer + offset);
+        memcpy( &(this->projected_maps_info[i]), &(this->st_projected_maps_info), sizeof(map_msgs::ProjectedMapInfo));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return SETMAPPROJECTIONS; };
+    const char * getMD5(){ return "d7980a33202421c8cd74565e57a4d229"; };
+
+  };
+
+  class SetMapProjections {
+    public:
+    typedef SetMapProjectionsRequest Request;
+    typedef SetMapProjectionsResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseAction.h
new file mode 100644
index 0000000..ad79c6a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_move_base_msgs_MoveBaseAction_h
+#define _ROS_move_base_msgs_MoveBaseAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "move_base_msgs/MoveBaseActionGoal.h"
+#include "move_base_msgs/MoveBaseActionResult.h"
+#include "move_base_msgs/MoveBaseActionFeedback.h"
+
+namespace move_base_msgs
+{
+
+  class MoveBaseAction : public ros::Msg
+  {
+    public:
+      typedef move_base_msgs::MoveBaseActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef move_base_msgs::MoveBaseActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef move_base_msgs::MoveBaseActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    MoveBaseAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "move_base_msgs/MoveBaseAction"; };
+    const char * getMD5(){ return "70b6aca7c7f7746d8d1609ad94c80bb8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseActionFeedback.h
new file mode 100644
index 0000000..1cfebc6
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_move_base_msgs_MoveBaseActionFeedback_h
+#define _ROS_move_base_msgs_MoveBaseActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "move_base_msgs/MoveBaseFeedback.h"
+
+namespace move_base_msgs
+{
+
+  class MoveBaseActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef move_base_msgs::MoveBaseFeedback _feedback_type;
+      _feedback_type feedback;
+
+    MoveBaseActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "move_base_msgs/MoveBaseActionFeedback"; };
+    const char * getMD5(){ return "7d1870ff6e0decea702b943b5af0b42e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseActionGoal.h
new file mode 100644
index 0000000..686c496
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_move_base_msgs_MoveBaseActionGoal_h
+#define _ROS_move_base_msgs_MoveBaseActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "move_base_msgs/MoveBaseGoal.h"
+
+namespace move_base_msgs
+{
+
+  class MoveBaseActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef move_base_msgs::MoveBaseGoal _goal_type;
+      _goal_type goal;
+
+    MoveBaseActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "move_base_msgs/MoveBaseActionGoal"; };
+    const char * getMD5(){ return "660d6895a1b9a16dce51fbdd9a64a56b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseActionResult.h
new file mode 100644
index 0000000..b9614e5
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_move_base_msgs_MoveBaseActionResult_h
+#define _ROS_move_base_msgs_MoveBaseActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "move_base_msgs/MoveBaseResult.h"
+
+namespace move_base_msgs
+{
+
+  class MoveBaseActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef move_base_msgs::MoveBaseResult _result_type;
+      _result_type result;
+
+    MoveBaseActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "move_base_msgs/MoveBaseActionResult"; };
+    const char * getMD5(){ return "1eb06eeff08fa7ea874431638cb52332"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseFeedback.h
new file mode 100644
index 0000000..09adc4f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseFeedback.h
@@ -0,0 +1,44 @@
+#ifndef _ROS_move_base_msgs_MoveBaseFeedback_h
+#define _ROS_move_base_msgs_MoveBaseFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/PoseStamped.h"
+
+namespace move_base_msgs
+{
+
+  class MoveBaseFeedback : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::PoseStamped _base_position_type;
+      _base_position_type base_position;
+
+    MoveBaseFeedback():
+      base_position()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->base_position.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->base_position.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "move_base_msgs/MoveBaseFeedback"; };
+    const char * getMD5(){ return "3fb824c456a757373a226f6d08071bf0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseGoal.h
new file mode 100644
index 0000000..d228217
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseGoal.h
@@ -0,0 +1,44 @@
+#ifndef _ROS_move_base_msgs_MoveBaseGoal_h
+#define _ROS_move_base_msgs_MoveBaseGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/PoseStamped.h"
+
+namespace move_base_msgs
+{
+
+  class MoveBaseGoal : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::PoseStamped _target_pose_type;
+      _target_pose_type target_pose;
+
+    MoveBaseGoal():
+      target_pose()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->target_pose.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->target_pose.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "move_base_msgs/MoveBaseGoal"; };
+    const char * getMD5(){ return "257d089627d7eb7136c24d3593d05a16"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseResult.h
new file mode 100644
index 0000000..c43c536
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/move_base_msgs/MoveBaseResult.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_move_base_msgs_MoveBaseResult_h
+#define _ROS_move_base_msgs_MoveBaseResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace move_base_msgs
+{
+
+  class MoveBaseResult : public ros::Msg
+  {
+    public:
+
+    MoveBaseResult()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "move_base_msgs/MoveBaseResult"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMap.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMap.h
new file mode 100644
index 0000000..ef7e3fa
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMap.h
@@ -0,0 +1,76 @@
+#ifndef _ROS_SERVICE_GetMap_h
+#define _ROS_SERVICE_GetMap_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/OccupancyGrid.h"
+
+namespace nav_msgs
+{
+
+static const char GETMAP[] = "nav_msgs/GetMap";
+
+  class GetMapRequest : public ros::Msg
+  {
+    public:
+
+    GetMapRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETMAP; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetMapResponse : public ros::Msg
+  {
+    public:
+      typedef nav_msgs::OccupancyGrid _map_type;
+      _map_type map;
+
+    GetMapResponse():
+      map()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->map.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->map.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETMAP; };
+    const char * getMD5(){ return "6cdd0a18e0aff5b0a3ca2326a89b54ff"; };
+
+  };
+
+  class GetMap {
+    public:
+    typedef GetMapRequest Request;
+    typedef GetMapResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapAction.h
new file mode 100644
index 0000000..56e8299
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_nav_msgs_GetMapAction_h
+#define _ROS_nav_msgs_GetMapAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/GetMapActionGoal.h"
+#include "nav_msgs/GetMapActionResult.h"
+#include "nav_msgs/GetMapActionFeedback.h"
+
+namespace nav_msgs
+{
+
+  class GetMapAction : public ros::Msg
+  {
+    public:
+      typedef nav_msgs::GetMapActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef nav_msgs::GetMapActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef nav_msgs::GetMapActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    GetMapAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapAction"; };
+    const char * getMD5(){ return "e611ad23fbf237c031b7536416dc7cd7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapActionFeedback.h
new file mode 100644
index 0000000..fb60003
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_nav_msgs_GetMapActionFeedback_h
+#define _ROS_nav_msgs_GetMapActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "nav_msgs/GetMapFeedback.h"
+
+namespace nav_msgs
+{
+
+  class GetMapActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef nav_msgs::GetMapFeedback _feedback_type;
+      _feedback_type feedback;
+
+    GetMapActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapActionGoal.h
new file mode 100644
index 0000000..da4244a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_nav_msgs_GetMapActionGoal_h
+#define _ROS_nav_msgs_GetMapActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "nav_msgs/GetMapGoal.h"
+
+namespace nav_msgs
+{
+
+  class GetMapActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef nav_msgs::GetMapGoal _goal_type;
+      _goal_type goal;
+
+    GetMapActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapActionGoal"; };
+    const char * getMD5(){ return "4b30be6cd12b9e72826df56b481f40e0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapActionResult.h
new file mode 100644
index 0000000..f614a35
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_nav_msgs_GetMapActionResult_h
+#define _ROS_nav_msgs_GetMapActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "nav_msgs/GetMapResult.h"
+
+namespace nav_msgs
+{
+
+  class GetMapActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef nav_msgs::GetMapResult _result_type;
+      _result_type result;
+
+    GetMapActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapActionResult"; };
+    const char * getMD5(){ return "ac66e5b9a79bb4bbd33dab245236c892"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapFeedback.h
new file mode 100644
index 0000000..e3b4560
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapFeedback.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_nav_msgs_GetMapFeedback_h
+#define _ROS_nav_msgs_GetMapFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace nav_msgs
+{
+
+  class GetMapFeedback : public ros::Msg
+  {
+    public:
+
+    GetMapFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapGoal.h
new file mode 100644
index 0000000..88a17c5
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapGoal.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_nav_msgs_GetMapGoal_h
+#define _ROS_nav_msgs_GetMapGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace nav_msgs
+{
+
+  class GetMapGoal : public ros::Msg
+  {
+    public:
+
+    GetMapGoal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapGoal"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapResult.h
new file mode 100644
index 0000000..1ef8fbd
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetMapResult.h
@@ -0,0 +1,44 @@
+#ifndef _ROS_nav_msgs_GetMapResult_h
+#define _ROS_nav_msgs_GetMapResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/OccupancyGrid.h"
+
+namespace nav_msgs
+{
+
+  class GetMapResult : public ros::Msg
+  {
+    public:
+      typedef nav_msgs::OccupancyGrid _map_type;
+      _map_type map;
+
+    GetMapResult():
+      map()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->map.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->map.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapResult"; };
+    const char * getMD5(){ return "6cdd0a18e0aff5b0a3ca2326a89b54ff"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetPlan.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetPlan.h
new file mode 100644
index 0000000..fe312b2
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GetPlan.h
@@ -0,0 +1,111 @@
+#ifndef _ROS_SERVICE_GetPlan_h
+#define _ROS_SERVICE_GetPlan_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "nav_msgs/Path.h"
+
+namespace nav_msgs
+{
+
+static const char GETPLAN[] = "nav_msgs/GetPlan";
+
+  class GetPlanRequest : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::PoseStamped _start_type;
+      _start_type start;
+      typedef geometry_msgs::PoseStamped _goal_type;
+      _goal_type goal;
+      typedef float _tolerance_type;
+      _tolerance_type tolerance;
+
+    GetPlanRequest():
+      start(),
+      goal(),
+      tolerance(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->start.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_tolerance;
+      u_tolerance.real = this->tolerance;
+      *(outbuffer + offset + 0) = (u_tolerance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_tolerance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_tolerance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_tolerance.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->tolerance);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->start.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_tolerance;
+      u_tolerance.base = 0;
+      u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->tolerance = u_tolerance.real;
+      offset += sizeof(this->tolerance);
+     return offset;
+    }
+
+    const char * getType(){ return GETPLAN; };
+    const char * getMD5(){ return "e25a43e0752bcca599a8c2eef8282df8"; };
+
+  };
+
+  class GetPlanResponse : public ros::Msg
+  {
+    public:
+      typedef nav_msgs::Path _plan_type;
+      _plan_type plan;
+
+    GetPlanResponse():
+      plan()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->plan.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->plan.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETPLAN; };
+    const char * getMD5(){ return "0002bc113c0259d71f6cf8cbc9430e18"; };
+
+  };
+
+  class GetPlan {
+    public:
+    typedef GetPlanRequest Request;
+    typedef GetPlanResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GridCells.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GridCells.h
new file mode 100644
index 0000000..6c41cc6
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/GridCells.h
@@ -0,0 +1,118 @@
+#ifndef _ROS_nav_msgs_GridCells_h
+#define _ROS_nav_msgs_GridCells_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+
+namespace nav_msgs
+{
+
+  class GridCells : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef float _cell_width_type;
+      _cell_width_type cell_width;
+      typedef float _cell_height_type;
+      _cell_height_type cell_height;
+      uint32_t cells_length;
+      typedef geometry_msgs::Point _cells_type;
+      _cells_type st_cells;
+      _cells_type * cells;
+
+    GridCells():
+      header(),
+      cell_width(0),
+      cell_height(0),
+      cells_length(0), cells(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_cell_width;
+      u_cell_width.real = this->cell_width;
+      *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cell_width);
+      union {
+        float real;
+        uint32_t base;
+      } u_cell_height;
+      u_cell_height.real = this->cell_height;
+      *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cell_height);
+      *(outbuffer + offset + 0) = (this->cells_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->cells_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->cells_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->cells_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cells_length);
+      for( uint32_t i = 0; i < cells_length; i++){
+      offset += this->cells[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_cell_width;
+      u_cell_width.base = 0;
+      u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->cell_width = u_cell_width.real;
+      offset += sizeof(this->cell_width);
+      union {
+        float real;
+        uint32_t base;
+      } u_cell_height;
+      u_cell_height.base = 0;
+      u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->cell_height = u_cell_height.real;
+      offset += sizeof(this->cell_height);
+      uint32_t cells_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->cells_length);
+      if(cells_lengthT > cells_length)
+        this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
+      cells_length = cells_lengthT;
+      for( uint32_t i = 0; i < cells_length; i++){
+      offset += this->st_cells.deserialize(inbuffer + offset);
+        memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GridCells"; };
+    const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/MapMetaData.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/MapMetaData.h
new file mode 100644
index 0000000..47733d9
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/MapMetaData.h
@@ -0,0 +1,118 @@
+#ifndef _ROS_nav_msgs_MapMetaData_h
+#define _ROS_nav_msgs_MapMetaData_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+#include "geometry_msgs/Pose.h"
+
+namespace nav_msgs
+{
+
+  class MapMetaData : public ros::Msg
+  {
+    public:
+      typedef ros::Time _map_load_time_type;
+      _map_load_time_type map_load_time;
+      typedef float _resolution_type;
+      _resolution_type resolution;
+      typedef uint32_t _width_type;
+      _width_type width;
+      typedef uint32_t _height_type;
+      _height_type height;
+      typedef geometry_msgs::Pose _origin_type;
+      _origin_type origin;
+
+    MapMetaData():
+      map_load_time(),
+      resolution(0),
+      width(0),
+      height(0),
+      origin()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->map_load_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->map_load_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->map_load_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->map_load_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->map_load_time.sec);
+      *(outbuffer + offset + 0) = (this->map_load_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->map_load_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->map_load_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->map_load_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->map_load_time.nsec);
+      union {
+        float real;
+        uint32_t base;
+      } u_resolution;
+      u_resolution.real = this->resolution;
+      *(outbuffer + offset + 0) = (u_resolution.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_resolution.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_resolution.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_resolution.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->resolution);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      offset += this->origin.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->map_load_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->map_load_time.sec);
+      this->map_load_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->map_load_time.nsec);
+      union {
+        float real;
+        uint32_t base;
+      } u_resolution;
+      u_resolution.base = 0;
+      u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->resolution = u_resolution.real;
+      offset += sizeof(this->resolution);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      offset += this->origin.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/MapMetaData"; };
+    const char * getMD5(){ return "10cfc8a2818024d3248802c00c95f11b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/OccupancyGrid.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/OccupancyGrid.h
new file mode 100644
index 0000000..4205f43
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/OccupancyGrid.h
@@ -0,0 +1,88 @@
+#ifndef _ROS_nav_msgs_OccupancyGrid_h
+#define _ROS_nav_msgs_OccupancyGrid_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "nav_msgs/MapMetaData.h"
+
+namespace nav_msgs
+{
+
+  class OccupancyGrid : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef nav_msgs::MapMetaData _info_type;
+      _info_type info;
+      uint32_t data_length;
+      typedef int8_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    OccupancyGrid():
+      header(),
+      info(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->info.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->info.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/OccupancyGrid"; };
+    const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/Odometry.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/Odometry.h
new file mode 100644
index 0000000..ef64509
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/Odometry.h
@@ -0,0 +1,73 @@
+#ifndef _ROS_nav_msgs_Odometry_h
+#define _ROS_nav_msgs_Odometry_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/PoseWithCovariance.h"
+#include "geometry_msgs/TwistWithCovariance.h"
+
+namespace nav_msgs
+{
+
+  class Odometry : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _child_frame_id_type;
+      _child_frame_id_type child_frame_id;
+      typedef geometry_msgs::PoseWithCovariance _pose_type;
+      _pose_type pose;
+      typedef geometry_msgs::TwistWithCovariance _twist_type;
+      _twist_type twist;
+
+    Odometry():
+      header(),
+      child_frame_id(""),
+      pose(),
+      twist()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_child_frame_id = strlen(this->child_frame_id);
+      varToArr(outbuffer + offset, length_child_frame_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
+      offset += length_child_frame_id;
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_child_frame_id;
+      arrToVar(length_child_frame_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_child_frame_id-1]=0;
+      this->child_frame_id = (char *)(inbuffer + offset-1);
+      offset += length_child_frame_id;
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/Odometry"; };
+    const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/Path.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/Path.h
new file mode 100644
index 0000000..8587706
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/Path.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_nav_msgs_Path_h
+#define _ROS_nav_msgs_Path_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/PoseStamped.h"
+
+namespace nav_msgs
+{
+
+  class Path : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t poses_length;
+      typedef geometry_msgs::PoseStamped _poses_type;
+      _poses_type st_poses;
+      _poses_type * poses;
+
+    Path():
+      header(),
+      poses_length(0), poses(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->poses_length);
+      for( uint32_t i = 0; i < poses_length; i++){
+      offset += this->poses[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->poses_length);
+      if(poses_lengthT > poses_length)
+        this->poses = (geometry_msgs::PoseStamped*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::PoseStamped));
+      poses_length = poses_lengthT;
+      for( uint32_t i = 0; i < poses_length; i++){
+      offset += this->st_poses.deserialize(inbuffer + offset);
+        memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::PoseStamped));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/Path"; };
+    const char * getMD5(){ return "6227e2b7e9cce15051f669a5e197bbf7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/SetMap.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/SetMap.h
new file mode 100644
index 0000000..717cead
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nav_msgs/SetMap.h
@@ -0,0 +1,100 @@
+#ifndef _ROS_SERVICE_SetMap_h
+#define _ROS_SERVICE_SetMap_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/OccupancyGrid.h"
+#include "geometry_msgs/PoseWithCovarianceStamped.h"
+
+namespace nav_msgs
+{
+
+static const char SETMAP[] = "nav_msgs/SetMap";
+
+  class SetMapRequest : public ros::Msg
+  {
+    public:
+      typedef nav_msgs::OccupancyGrid _map_type;
+      _map_type map;
+      typedef geometry_msgs::PoseWithCovarianceStamped _initial_pose_type;
+      _initial_pose_type initial_pose;
+
+    SetMapRequest():
+      map(),
+      initial_pose()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->map.serialize(outbuffer + offset);
+      offset += this->initial_pose.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->map.deserialize(inbuffer + offset);
+      offset += this->initial_pose.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETMAP; };
+    const char * getMD5(){ return "91149a20d7be299b87c340df8cc94fd4"; };
+
+  };
+
+  class SetMapResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+
+    SetMapResponse():
+      success(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+     return offset;
+    }
+
+    const char * getType(){ return SETMAP; };
+    const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
+
+  };
+
+  class SetMap {
+    public:
+    typedef SetMapRequest Request;
+    typedef SetMapResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nodelet/NodeletList.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nodelet/NodeletList.h
new file mode 100644
index 0000000..6210fa0
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nodelet/NodeletList.h
@@ -0,0 +1,107 @@
+#ifndef _ROS_SERVICE_NodeletList_h
+#define _ROS_SERVICE_NodeletList_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace nodelet
+{
+
+static const char NODELETLIST[] = "nodelet/NodeletList";
+
+  class NodeletListRequest : public ros::Msg
+  {
+    public:
+
+    NodeletListRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return NODELETLIST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class NodeletListResponse : public ros::Msg
+  {
+    public:
+      uint32_t nodelets_length;
+      typedef char* _nodelets_type;
+      _nodelets_type st_nodelets;
+      _nodelets_type * nodelets;
+
+    NodeletListResponse():
+      nodelets_length(0), nodelets(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->nodelets_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->nodelets_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->nodelets_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->nodelets_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->nodelets_length);
+      for( uint32_t i = 0; i < nodelets_length; i++){
+      uint32_t length_nodeletsi = strlen(this->nodelets[i]);
+      varToArr(outbuffer + offset, length_nodeletsi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->nodelets[i], length_nodeletsi);
+      offset += length_nodeletsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t nodelets_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      nodelets_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->nodelets_length);
+      if(nodelets_lengthT > nodelets_length)
+        this->nodelets = (char**)realloc(this->nodelets, nodelets_lengthT * sizeof(char*));
+      nodelets_length = nodelets_lengthT;
+      for( uint32_t i = 0; i < nodelets_length; i++){
+      uint32_t length_st_nodelets;
+      arrToVar(length_st_nodelets, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_nodelets; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_nodelets-1]=0;
+      this->st_nodelets = (char *)(inbuffer + offset-1);
+      offset += length_st_nodelets;
+        memcpy( &(this->nodelets[i]), &(this->st_nodelets), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return NODELETLIST; };
+    const char * getMD5(){ return "99c7b10e794f5600b8030e697e946ca7"; };
+
+  };
+
+  class NodeletList {
+    public:
+    typedef NodeletListRequest Request;
+    typedef NodeletListResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nodelet/NodeletLoad.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nodelet/NodeletLoad.h
new file mode 100644
index 0000000..e7a9c5c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nodelet/NodeletLoad.h
@@ -0,0 +1,250 @@
+#ifndef _ROS_SERVICE_NodeletLoad_h
+#define _ROS_SERVICE_NodeletLoad_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace nodelet
+{
+
+static const char NODELETLOAD[] = "nodelet/NodeletLoad";
+
+  class NodeletLoadRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef const char* _type_type;
+      _type_type type;
+      uint32_t remap_source_args_length;
+      typedef char* _remap_source_args_type;
+      _remap_source_args_type st_remap_source_args;
+      _remap_source_args_type * remap_source_args;
+      uint32_t remap_target_args_length;
+      typedef char* _remap_target_args_type;
+      _remap_target_args_type st_remap_target_args;
+      _remap_target_args_type * remap_target_args;
+      uint32_t my_argv_length;
+      typedef char* _my_argv_type;
+      _my_argv_type st_my_argv;
+      _my_argv_type * my_argv;
+      typedef const char* _bond_id_type;
+      _bond_id_type bond_id;
+
+    NodeletLoadRequest():
+      name(""),
+      type(""),
+      remap_source_args_length(0), remap_source_args(NULL),
+      remap_target_args_length(0), remap_target_args(NULL),
+      my_argv_length(0), my_argv(NULL),
+      bond_id("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_type = strlen(this->type);
+      varToArr(outbuffer + offset, length_type);
+      offset += 4;
+      memcpy(outbuffer + offset, this->type, length_type);
+      offset += length_type;
+      *(outbuffer + offset + 0) = (this->remap_source_args_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->remap_source_args_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->remap_source_args_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->remap_source_args_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->remap_source_args_length);
+      for( uint32_t i = 0; i < remap_source_args_length; i++){
+      uint32_t length_remap_source_argsi = strlen(this->remap_source_args[i]);
+      varToArr(outbuffer + offset, length_remap_source_argsi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->remap_source_args[i], length_remap_source_argsi);
+      offset += length_remap_source_argsi;
+      }
+      *(outbuffer + offset + 0) = (this->remap_target_args_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->remap_target_args_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->remap_target_args_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->remap_target_args_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->remap_target_args_length);
+      for( uint32_t i = 0; i < remap_target_args_length; i++){
+      uint32_t length_remap_target_argsi = strlen(this->remap_target_args[i]);
+      varToArr(outbuffer + offset, length_remap_target_argsi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->remap_target_args[i], length_remap_target_argsi);
+      offset += length_remap_target_argsi;
+      }
+      *(outbuffer + offset + 0) = (this->my_argv_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->my_argv_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->my_argv_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->my_argv_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->my_argv_length);
+      for( uint32_t i = 0; i < my_argv_length; i++){
+      uint32_t length_my_argvi = strlen(this->my_argv[i]);
+      varToArr(outbuffer + offset, length_my_argvi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->my_argv[i], length_my_argvi);
+      offset += length_my_argvi;
+      }
+      uint32_t length_bond_id = strlen(this->bond_id);
+      varToArr(outbuffer + offset, length_bond_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->bond_id, length_bond_id);
+      offset += length_bond_id;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_type;
+      arrToVar(length_type, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_type-1]=0;
+      this->type = (char *)(inbuffer + offset-1);
+      offset += length_type;
+      uint32_t remap_source_args_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      remap_source_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      remap_source_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      remap_source_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->remap_source_args_length);
+      if(remap_source_args_lengthT > remap_source_args_length)
+        this->remap_source_args = (char**)realloc(this->remap_source_args, remap_source_args_lengthT * sizeof(char*));
+      remap_source_args_length = remap_source_args_lengthT;
+      for( uint32_t i = 0; i < remap_source_args_length; i++){
+      uint32_t length_st_remap_source_args;
+      arrToVar(length_st_remap_source_args, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_remap_source_args; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_remap_source_args-1]=0;
+      this->st_remap_source_args = (char *)(inbuffer + offset-1);
+      offset += length_st_remap_source_args;
+        memcpy( &(this->remap_source_args[i]), &(this->st_remap_source_args), sizeof(char*));
+      }
+      uint32_t remap_target_args_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      remap_target_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      remap_target_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      remap_target_args_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->remap_target_args_length);
+      if(remap_target_args_lengthT > remap_target_args_length)
+        this->remap_target_args = (char**)realloc(this->remap_target_args, remap_target_args_lengthT * sizeof(char*));
+      remap_target_args_length = remap_target_args_lengthT;
+      for( uint32_t i = 0; i < remap_target_args_length; i++){
+      uint32_t length_st_remap_target_args;
+      arrToVar(length_st_remap_target_args, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_remap_target_args; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_remap_target_args-1]=0;
+      this->st_remap_target_args = (char *)(inbuffer + offset-1);
+      offset += length_st_remap_target_args;
+        memcpy( &(this->remap_target_args[i]), &(this->st_remap_target_args), sizeof(char*));
+      }
+      uint32_t my_argv_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      my_argv_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      my_argv_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      my_argv_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->my_argv_length);
+      if(my_argv_lengthT > my_argv_length)
+        this->my_argv = (char**)realloc(this->my_argv, my_argv_lengthT * sizeof(char*));
+      my_argv_length = my_argv_lengthT;
+      for( uint32_t i = 0; i < my_argv_length; i++){
+      uint32_t length_st_my_argv;
+      arrToVar(length_st_my_argv, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_my_argv; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_my_argv-1]=0;
+      this->st_my_argv = (char *)(inbuffer + offset-1);
+      offset += length_st_my_argv;
+        memcpy( &(this->my_argv[i]), &(this->st_my_argv), sizeof(char*));
+      }
+      uint32_t length_bond_id;
+      arrToVar(length_bond_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_bond_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_bond_id-1]=0;
+      this->bond_id = (char *)(inbuffer + offset-1);
+      offset += length_bond_id;
+     return offset;
+    }
+
+    const char * getType(){ return NODELETLOAD; };
+    const char * getMD5(){ return "c6e28cc4d2e259249d96cfb50658fbec"; };
+
+  };
+
+  class NodeletLoadResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+
+    NodeletLoadResponse():
+      success(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+     return offset;
+    }
+
+    const char * getType(){ return NODELETLOAD; };
+    const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
+
+  };
+
+  class NodeletLoad {
+    public:
+    typedef NodeletLoadRequest Request;
+    typedef NodeletLoadResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nodelet/NodeletUnload.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nodelet/NodeletUnload.h
new file mode 100644
index 0000000..bc865b4
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/nodelet/NodeletUnload.h
@@ -0,0 +1,105 @@
+#ifndef _ROS_SERVICE_NodeletUnload_h
+#define _ROS_SERVICE_NodeletUnload_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace nodelet
+{
+
+static const char NODELETUNLOAD[] = "nodelet/NodeletUnload";
+
+  class NodeletUnloadRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+
+    NodeletUnloadRequest():
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return NODELETUNLOAD; };
+    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
+
+  };
+
+  class NodeletUnloadResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+
+    NodeletUnloadResponse():
+      success(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+     return offset;
+    }
+
+    const char * getType(){ return NODELETUNLOAD; };
+    const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
+
+  };
+
+  class NodeletUnload {
+    public:
+    typedef NodeletUnloadRequest Request;
+    typedef NodeletUnloadResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/openni2_camera/GetSerial.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/openni2_camera/GetSerial.h
new file mode 100644
index 0000000..c0f1cdf
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/openni2_camera/GetSerial.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_GetSerial_h
+#define _ROS_SERVICE_GetSerial_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace openni2_camera
+{
+
+static const char GETSERIAL[] = "openni2_camera/GetSerial";
+
+  class GetSerialRequest : public ros::Msg
+  {
+    public:
+
+    GetSerialRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETSERIAL; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetSerialResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _serial_type;
+      _serial_type serial;
+
+    GetSerialResponse():
+      serial("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_serial = strlen(this->serial);
+      varToArr(outbuffer + offset, length_serial);
+      offset += 4;
+      memcpy(outbuffer + offset, this->serial, length_serial);
+      offset += length_serial;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_serial;
+      arrToVar(length_serial, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_serial; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_serial-1]=0;
+      this->serial = (char *)(inbuffer + offset-1);
+      offset += length_serial;
+     return offset;
+    }
+
+    const char * getType(){ return GETSERIAL; };
+    const char * getMD5(){ return "fca40cf463282a80db4e2037c8a61741"; };
+
+  };
+
+  class GetSerial {
+    public:
+    typedef GetSerialRequest Request;
+    typedef GetSerialResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/ModelCoefficients.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/ModelCoefficients.h
new file mode 100644
index 0000000..3256a94
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/ModelCoefficients.h
@@ -0,0 +1,88 @@
+#ifndef _ROS_pcl_msgs_ModelCoefficients_h
+#define _ROS_pcl_msgs_ModelCoefficients_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace pcl_msgs
+{
+
+  class ModelCoefficients : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t values_length;
+      typedef float _values_type;
+      _values_type st_values;
+      _values_type * values;
+
+    ModelCoefficients():
+      header(),
+      values_length(0), values(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->values_length);
+      for( uint32_t i = 0; i < values_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_valuesi;
+      u_valuesi.real = this->values[i];
+      *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->values[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->values_length);
+      if(values_lengthT > values_length)
+        this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
+      values_length = values_lengthT;
+      for( uint32_t i = 0; i < values_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_values;
+      u_st_values.base = 0;
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_values = u_st_values.real;
+      offset += sizeof(this->st_values);
+        memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "pcl_msgs/ModelCoefficients"; };
+    const char * getMD5(){ return "ca27dea75e72cb894cd36f9e5005e93e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/PointIndices.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/PointIndices.h
new file mode 100644
index 0000000..56feb9b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/PointIndices.h
@@ -0,0 +1,88 @@
+#ifndef _ROS_pcl_msgs_PointIndices_h
+#define _ROS_pcl_msgs_PointIndices_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace pcl_msgs
+{
+
+  class PointIndices : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t indices_length;
+      typedef int32_t _indices_type;
+      _indices_type st_indices;
+      _indices_type * indices;
+
+    PointIndices():
+      header(),
+      indices_length(0), indices(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->indices_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->indices_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->indices_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->indices_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->indices_length);
+      for( uint32_t i = 0; i < indices_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_indicesi;
+      u_indicesi.real = this->indices[i];
+      *(outbuffer + offset + 0) = (u_indicesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_indicesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_indicesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_indicesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->indices[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t indices_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      indices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      indices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      indices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->indices_length);
+      if(indices_lengthT > indices_length)
+        this->indices = (int32_t*)realloc(this->indices, indices_lengthT * sizeof(int32_t));
+      indices_length = indices_lengthT;
+      for( uint32_t i = 0; i < indices_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_indices;
+      u_st_indices.base = 0;
+      u_st_indices.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_indices.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_indices.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_indices.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_indices = u_st_indices.real;
+      offset += sizeof(this->st_indices);
+        memcpy( &(this->indices[i]), &(this->st_indices), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "pcl_msgs/PointIndices"; };
+    const char * getMD5(){ return "458c7998b7eaf99908256472e273b3d4"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/PolygonMesh.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/PolygonMesh.h
new file mode 100644
index 0000000..d98e4c1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/PolygonMesh.h
@@ -0,0 +1,76 @@
+#ifndef _ROS_pcl_msgs_PolygonMesh_h
+#define _ROS_pcl_msgs_PolygonMesh_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "pcl_msgs/Vertices.h"
+
+namespace pcl_msgs
+{
+
+  class PolygonMesh : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef sensor_msgs::PointCloud2 _cloud_type;
+      _cloud_type cloud;
+      uint32_t polygons_length;
+      typedef pcl_msgs::Vertices _polygons_type;
+      _polygons_type st_polygons;
+      _polygons_type * polygons;
+
+    PolygonMesh():
+      header(),
+      cloud(),
+      polygons_length(0), polygons(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->cloud.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->polygons_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->polygons_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->polygons_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->polygons_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->polygons_length);
+      for( uint32_t i = 0; i < polygons_length; i++){
+      offset += this->polygons[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->cloud.deserialize(inbuffer + offset);
+      uint32_t polygons_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->polygons_length);
+      if(polygons_lengthT > polygons_length)
+        this->polygons = (pcl_msgs::Vertices*)realloc(this->polygons, polygons_lengthT * sizeof(pcl_msgs::Vertices));
+      polygons_length = polygons_lengthT;
+      for( uint32_t i = 0; i < polygons_length; i++){
+      offset += this->st_polygons.deserialize(inbuffer + offset);
+        memcpy( &(this->polygons[i]), &(this->st_polygons), sizeof(pcl_msgs::Vertices));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "pcl_msgs/PolygonMesh"; };
+    const char * getMD5(){ return "45a5fc6ad2cde8489600a790acc9a38a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/Vertices.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/Vertices.h
new file mode 100644
index 0000000..55a6704
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/pcl_msgs/Vertices.h
@@ -0,0 +1,71 @@
+#ifndef _ROS_pcl_msgs_Vertices_h
+#define _ROS_pcl_msgs_Vertices_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace pcl_msgs
+{
+
+  class Vertices : public ros::Msg
+  {
+    public:
+      uint32_t vertices_length;
+      typedef uint32_t _vertices_type;
+      _vertices_type st_vertices;
+      _vertices_type * vertices;
+
+    Vertices():
+      vertices_length(0), vertices(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->vertices_length);
+      for( uint32_t i = 0; i < vertices_length; i++){
+      *(outbuffer + offset + 0) = (this->vertices[i] >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->vertices[i] >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->vertices[i] >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->vertices[i] >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->vertices[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->vertices_length);
+      if(vertices_lengthT > vertices_length)
+        this->vertices = (uint32_t*)realloc(this->vertices, vertices_lengthT * sizeof(uint32_t));
+      vertices_length = vertices_lengthT;
+      for( uint32_t i = 0; i < vertices_length; i++){
+      this->st_vertices =  ((uint32_t) (*(inbuffer + offset)));
+      this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->st_vertices);
+        memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(uint32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "pcl_msgs/Vertices"; };
+    const char * getMD5(){ return "39bd7b1c23763ddd1b882b97cb7cfe11"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/polled_camera/GetPolledImage.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/polled_camera/GetPolledImage.h
new file mode 100644
index 0000000..b062405
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/polled_camera/GetPolledImage.h
@@ -0,0 +1,202 @@
+#ifndef _ROS_SERVICE_GetPolledImage_h
+#define _ROS_SERVICE_GetPolledImage_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/RegionOfInterest.h"
+#include "ros/duration.h"
+#include "ros/time.h"
+
+namespace polled_camera
+{
+
+static const char GETPOLLEDIMAGE[] = "polled_camera/GetPolledImage";
+
+  class GetPolledImageRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _response_namespace_type;
+      _response_namespace_type response_namespace;
+      typedef ros::Duration _timeout_type;
+      _timeout_type timeout;
+      typedef uint32_t _binning_x_type;
+      _binning_x_type binning_x;
+      typedef uint32_t _binning_y_type;
+      _binning_y_type binning_y;
+      typedef sensor_msgs::RegionOfInterest _roi_type;
+      _roi_type roi;
+
+    GetPolledImageRequest():
+      response_namespace(""),
+      timeout(),
+      binning_x(0),
+      binning_y(0),
+      roi()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_response_namespace = strlen(this->response_namespace);
+      varToArr(outbuffer + offset, length_response_namespace);
+      offset += 4;
+      memcpy(outbuffer + offset, this->response_namespace, length_response_namespace);
+      offset += length_response_namespace;
+      *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timeout.sec);
+      *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timeout.nsec);
+      *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_x);
+      *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_y);
+      offset += this->roi.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_response_namespace;
+      arrToVar(length_response_namespace, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_response_namespace; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_response_namespace-1]=0;
+      this->response_namespace = (char *)(inbuffer + offset-1);
+      offset += length_response_namespace;
+      this->timeout.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timeout.sec);
+      this->timeout.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timeout.nsec);
+      this->binning_x =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_x);
+      this->binning_y =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_y);
+      offset += this->roi.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETPOLLEDIMAGE; };
+    const char * getMD5(){ return "c77ed43e530fd48e9e7a2a93845e154c"; };
+
+  };
+
+  class GetPolledImageResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+      typedef ros::Time _stamp_type;
+      _stamp_type stamp;
+
+    GetPolledImageResponse():
+      success(0),
+      status_message(""),
+      stamp()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.sec);
+      *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+      this->stamp.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.sec);
+      this->stamp.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return GETPOLLEDIMAGE; };
+    const char * getMD5(){ return "dbf1f851bc511800e6129ccd5a3542ab"; };
+
+  };
+
+  class GetPolledImage {
+    public:
+    typedef GetPolledImageRequest Request;
+    typedef GetPolledImageResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/robot_pose_ekf/GetStatus.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/robot_pose_ekf/GetStatus.h
new file mode 100644
index 0000000..155cde3
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/robot_pose_ekf/GetStatus.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_GetStatus_h
+#define _ROS_SERVICE_GetStatus_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace robot_pose_ekf
+{
+
+static const char GETSTATUS[] = "robot_pose_ekf/GetStatus";
+
+  class GetStatusRequest : public ros::Msg
+  {
+    public:
+
+    GetStatusRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETSTATUS; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetStatusResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _status_type;
+      _status_type status;
+
+    GetStatusResponse():
+      status("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_status = strlen(this->status);
+      varToArr(outbuffer + offset, length_status);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status, length_status);
+      offset += length_status;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_status;
+      arrToVar(length_status, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status-1]=0;
+      this->status = (char *)(inbuffer + offset-1);
+      offset += length_status;
+     return offset;
+    }
+
+    const char * getType(){ return GETSTATUS; };
+    const char * getMD5(){ return "4fe5af303955c287688e7347e9b00278"; };
+
+  };
+
+  class GetStatus {
+    public:
+    typedef GetStatusRequest Request;
+    typedef GetStatusResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros.h
new file mode 100644
index 0000000..1d1ab17
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros.h
@@ -0,0 +1,37 @@
+/**
+Software License Agreement (BSD)
+
+\file      ros.h
+\authors   Kareem Shehata <kshehata@clearpathrobotics.com>
+\copyright Copyright (c) 2014, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the 
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _ROS_H_
+#define _ROS_H_
+
+#include "WindowsSocket.h"
+#include "ros/node_handle.h"
+
+namespace ros
+{
+typedef NodeHandle_<WindowsSocket> NodeHandle;
+}
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/duration.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/duration.h
new file mode 100644
index 0000000..5ec6d90
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/duration.h
@@ -0,0 +1,75 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_DURATION_H_
+#define _ROS_DURATION_H_
+
+#include <math.h>
+#include <stdint.h>
+
+namespace ros
+{
+
+void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
+
+class Duration
+{
+public:
+  int32_t sec, nsec;
+
+  Duration() : sec(0), nsec(0) {}
+  Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
+  {
+    normalizeSecNSecSigned(sec, nsec);
+  }
+
+  double toSec() const
+  {
+    return (double)sec + 1e-9 * (double)nsec;
+  };
+  void fromSec(double t)
+  {
+    sec = (uint32_t) floor(t);
+    nsec = (uint32_t) round((t - sec) * 1e9);
+  };
+
+  Duration& operator+=(const Duration &rhs);
+  Duration& operator-=(const Duration &rhs);
+  Duration& operator*=(double scale);
+};
+
+}
+
+#endif
+
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/msg.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/msg.h
new file mode 100644
index 0000000..aea0f6f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/msg.h
@@ -0,0 +1,148 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_MSG_H_
+#define _ROS_MSG_H_
+
+#include <stdint.h>
+#include <stddef.h>
+
+namespace ros
+{
+
+/* Base Message Type */
+class Msg
+{
+public:
+  virtual int serialize(unsigned char *outbuffer) const = 0;
+  virtual int deserialize(unsigned char *data) = 0;
+  virtual const char * getType() = 0;
+  virtual const char * getMD5() = 0;
+
+  /**
+   * @brief This tricky function handles promoting a 32bit float to a 64bit
+   *        double, so that AVR can publish messages containing float64
+   *        fields, despite AVV having no native support for double.
+   *
+   * @param[out] outbuffer pointer for buffer to serialize to.
+   * @param[in] f value to serialize.
+   *
+   * @return number of bytes to advance the buffer pointer.
+   *
+   */
+  static int serializeAvrFloat64(unsigned char* outbuffer, const float f)
+  {
+    const int32_t* val = (int32_t*) &f;
+    int32_t exp = ((*val >> 23) & 255);
+    if (exp != 0)
+    {
+      exp += 1023 - 127;
+    }
+
+    int32_t sig = *val;
+    *(outbuffer++) = 0;
+    *(outbuffer++) = 0;
+    *(outbuffer++) = 0;
+    *(outbuffer++) = (sig << 5) & 0xff;
+    *(outbuffer++) = (sig >> 3) & 0xff;
+    *(outbuffer++) = (sig >> 11) & 0xff;
+    *(outbuffer++) = ((exp << 4) & 0xF0) | ((sig >> 19) & 0x0F);
+    *(outbuffer++) = (exp >> 4) & 0x7F;
+
+    // Mark negative bit as necessary.
+    if (f < 0)
+    {
+      *(outbuffer - 1) |= 0x80;
+    }
+
+    return 8;
+  }
+
+  /**
+   * @brief This tricky function handles demoting a 64bit double to a
+   *        32bit float, so that AVR can understand messages containing
+   *        float64 fields, despite AVR having no native support for double.
+   *
+   * @param[in] inbuffer pointer for buffer to deserialize from.
+   * @param[out] f pointer to place the deserialized value in.
+   *
+   * @return number of bytes to advance the buffer pointer.
+   */
+  static int deserializeAvrFloat64(const unsigned char* inbuffer, float* f)
+  {
+    uint32_t* val = (uint32_t*)f;
+    inbuffer += 3;
+
+    // Copy truncated mantissa.
+    *val = ((uint32_t)(*(inbuffer++)) >> 5 & 0x07);
+    *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 3;
+    *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 11;
+    *val |= ((uint32_t)(*inbuffer) & 0x0f) << 19;
+
+    // Copy truncated exponent.
+    uint32_t exp = ((uint32_t)(*(inbuffer++)) & 0xf0) >> 4;
+    exp |= ((uint32_t)(*inbuffer) & 0x7f) << 4;
+    if (exp != 0)
+    {
+      *val |= ((exp) - 1023 + 127) << 23;
+    }
+
+    // Copy negative sign.
+    *val |= ((uint32_t)(*(inbuffer++)) & 0x80) << 24;
+
+    return 8;
+  }
+
+  // Copy data from variable into a byte array
+  template<typename A, typename V>
+  static void varToArr(A arr, const V var)
+  {
+    for (size_t i = 0; i < sizeof(V); i++)
+      arr[i] = (var >> (8 * i));
+  }
+
+  // Copy data from a byte array into variable
+  template<typename V, typename A>
+  static void arrToVar(V& var, const A arr)
+  {
+    var = 0;
+    for (size_t i = 0; i < sizeof(V); i++)
+      var |= (arr[i] << (8 * i));
+  }
+
+};
+
+}  // namespace ros
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/node_handle.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/node_handle.h
new file mode 100644
index 0000000..cb117d1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/node_handle.h
@@ -0,0 +1,668 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_NODE_HANDLE_H_
+#define ROS_NODE_HANDLE_H_
+
+#include <stdint.h>
+
+#include "std_msgs/Time.h"
+#include "rosserial_msgs/TopicInfo.h"
+#include "rosserial_msgs/Log.h"
+#include "rosserial_msgs/RequestParam.h"
+
+#include "ros/msg.h"
+
+namespace ros
+{
+
+class NodeHandleBase_
+{
+public:
+  virtual int publish(int id, const Msg* msg) = 0;
+  virtual int spinOnce() = 0;
+  virtual bool connected() = 0;
+};
+}
+
+#include "ros/publisher.h"
+#include "ros/subscriber.h"
+#include "ros/service_server.h"
+#include "ros/service_client.h"
+
+namespace ros
+{
+
+const int SPIN_OK = 0;
+const int SPIN_ERR = -1;
+const int SPIN_TIMEOUT = -2;
+
+const uint8_t SYNC_SECONDS  = 5;
+const uint8_t MODE_FIRST_FF = 0;
+/*
+ * The second sync byte is a protocol version. It's value is 0xff for the first
+ * version of the rosserial protocol (used up to hydro), 0xfe for the second version
+ * (introduced in hydro), 0xfd for the next, and so on. Its purpose is to enable
+ * detection of mismatched protocol versions (e.g. hydro rosserial_python with groovy
+ * rosserial_arduino. It must be changed in both this file and in
+ * rosserial_python/src/rosserial_python/SerialClient.py
+ */
+const uint8_t MODE_PROTOCOL_VER   = 1;
+const uint8_t PROTOCOL_VER1       = 0xff; // through groovy
+const uint8_t PROTOCOL_VER2       = 0xfe; // in hydro
+const uint8_t PROTOCOL_VER        = PROTOCOL_VER2;
+const uint8_t MODE_SIZE_L         = 2;
+const uint8_t MODE_SIZE_H         = 3;
+const uint8_t MODE_SIZE_CHECKSUM  = 4;    // checksum for msg size received from size L and H
+const uint8_t MODE_TOPIC_L        = 5;    // waiting for topic id
+const uint8_t MODE_TOPIC_H        = 6;
+const uint8_t MODE_MESSAGE        = 7;
+const uint8_t MODE_MSG_CHECKSUM   = 8;    // checksum for msg and topic id
+
+
+const uint8_t SERIAL_MSG_TIMEOUT  = 20;   // 20 milliseconds to recieve all of message data
+
+using rosserial_msgs::TopicInfo;
+
+/* Node Handle */
+template<class Hardware,
+         int MAX_SUBSCRIBERS = 6,
+         int MAX_PUBLISHERS = 6,
+         int INPUT_SIZE = 2000,
+         int OUTPUT_SIZE = 2000>
+class NodeHandle_ : public NodeHandleBase_
+{
+protected:
+  Hardware hardware_;
+
+  /* time used for syncing */
+  uint32_t rt_time;
+
+  /* used for computing current time */
+  uint32_t sec_offset, nsec_offset;
+
+  /* Spinonce maximum work timeout */
+  uint32_t spin_timeout_;
+
+  uint8_t message_in[INPUT_SIZE];
+  uint8_t message_out[OUTPUT_SIZE];
+
+  Publisher * publishers[MAX_PUBLISHERS];
+  Subscriber_ * subscribers[MAX_SUBSCRIBERS];
+
+  /*
+   * Setup Functions
+   */
+public:
+  NodeHandle_() : configured_(false)
+  {
+
+    for (unsigned int i = 0; i < MAX_PUBLISHERS; i++)
+      publishers[i] = 0;
+
+    for (unsigned int i = 0; i < MAX_SUBSCRIBERS; i++)
+      subscribers[i] = 0;
+
+    for (unsigned int i = 0; i < INPUT_SIZE; i++)
+      message_in[i] = 0;
+
+    for (unsigned int i = 0; i < OUTPUT_SIZE; i++)
+      message_out[i] = 0;
+
+    req_param_resp.ints_length = 0;
+    req_param_resp.ints = NULL;
+    req_param_resp.floats_length = 0;
+    req_param_resp.floats = NULL;
+    req_param_resp.ints_length = 0;
+    req_param_resp.ints = NULL;
+
+    spin_timeout_ = 0;
+  }
+
+  Hardware* getHardware()
+  {
+    return &hardware_;
+  }
+
+  /* Start serial, initialize buffers */
+  void initNode()
+  {
+    hardware_.init();
+    mode_ = 0;
+    bytes_ = 0;
+    index_ = 0;
+    topic_ = 0;
+  };
+
+  /* Start a named port, which may be network server IP, initialize buffers */
+  void initNode(char *portName)
+  {
+    hardware_.init(portName);
+    mode_ = 0;
+    bytes_ = 0;
+    index_ = 0;
+    topic_ = 0;
+  };
+
+  /**
+   * @brief Sets the maximum time in millisconds that spinOnce() can work.
+   * This will not effect the processing of the buffer, as spinOnce processes
+   * one byte at a time. It simply sets the maximum time that one call can
+   * process for. You can choose to clear the buffer if that is beneficial if
+   * SPIN_TIMEOUT is returned from spinOnce().
+   * @param timeout The timeout in milliseconds that spinOnce will function.
+   */
+  void setSpinTimeout(const uint32_t& timeout)
+  {
+     spin_timeout_ = timeout;
+  }
+
+protected:
+  //State machine variables for spinOnce
+  int mode_;
+  int bytes_;
+  int topic_;
+  int index_;
+  int checksum_;
+
+  bool configured_;
+
+  /* used for syncing the time */
+  uint32_t last_sync_time;
+  uint32_t last_sync_receive_time;
+  uint32_t last_msg_timeout_time;
+
+public:
+  /* This function goes in your loop() function, it handles
+   *  serial input and callbacks for subscribers.
+   */
+
+
+  virtual int spinOnce()
+  {
+    /* restart if timed out */
+    uint32_t c_time = hardware_.time();
+    if ((c_time - last_sync_receive_time) > (SYNC_SECONDS * 2200))
+    {
+      configured_ = false;
+    }
+
+    /* reset if message has timed out */
+    if (mode_ != MODE_FIRST_FF)
+    {
+      if (c_time > last_msg_timeout_time)
+      {
+        mode_ = MODE_FIRST_FF;
+      }
+    }
+
+    /* while available buffer, read data */
+    while (true)
+    {
+      // If a timeout has been specified, check how long spinOnce has been running.
+      if (spin_timeout_ > 0)
+      {
+        // If the maximum processing timeout has been exceeded, exit with error.
+        // The next spinOnce can continue where it left off, or optionally
+        // based on the application in use, the hardware buffer could be flushed
+        // and start fresh.
+        if ((hardware_.time() - c_time) > spin_timeout_)
+        {
+          // Exit the spin, processing timeout exceeded.
+          return SPIN_TIMEOUT;
+        }
+      }
+      int data = hardware_.read();
+      if (data < 0)
+        break;
+      checksum_ += data;
+      if (mode_ == MODE_MESSAGE)          /* message data being recieved */
+      {
+        message_in[index_++] = data;
+        bytes_--;
+        if (bytes_ == 0)                 /* is message complete? if so, checksum */
+          mode_ = MODE_MSG_CHECKSUM;
+      }
+      else if (mode_ == MODE_FIRST_FF)
+      {
+        if (data == 0xff)
+        {
+          mode_++;
+          last_msg_timeout_time = c_time + SERIAL_MSG_TIMEOUT;
+        }
+        else if (hardware_.time() - c_time > (SYNC_SECONDS * 1000))
+        {
+          /* We have been stuck in spinOnce too long, return error */
+          configured_ = false;
+          return SPIN_TIMEOUT;
+        }
+      }
+      else if (mode_ == MODE_PROTOCOL_VER)
+      {
+        if (data == PROTOCOL_VER)
+        {
+          mode_++;
+        }
+        else
+        {
+          mode_ = MODE_FIRST_FF;
+          if (configured_ == false)
+            requestSyncTime();  /* send a msg back showing our protocol version */
+        }
+      }
+      else if (mode_ == MODE_SIZE_L)      /* bottom half of message size */
+      {
+        bytes_ = data;
+        index_ = 0;
+        mode_++;
+        checksum_ = data;               /* first byte for calculating size checksum */
+      }
+      else if (mode_ == MODE_SIZE_H)      /* top half of message size */
+      {
+        bytes_ += data << 8;
+        mode_++;
+      }
+      else if (mode_ == MODE_SIZE_CHECKSUM)
+      {
+        if ((checksum_ % 256) == 255)
+          mode_++;
+        else
+          mode_ = MODE_FIRST_FF;          /* Abandon the frame if the msg len is wrong */
+      }
+      else if (mode_ == MODE_TOPIC_L)     /* bottom half of topic id */
+      {
+        topic_ = data;
+        mode_++;
+        checksum_ = data;               /* first byte included in checksum */
+      }
+      else if (mode_ == MODE_TOPIC_H)     /* top half of topic id */
+      {
+        topic_ += data << 8;
+        mode_ = MODE_MESSAGE;
+        if (bytes_ == 0)
+          mode_ = MODE_MSG_CHECKSUM;
+      }
+      else if (mode_ == MODE_MSG_CHECKSUM)    /* do checksum */
+      {
+        mode_ = MODE_FIRST_FF;
+        if ((checksum_ % 256) == 255)
+        {
+          if (topic_ == TopicInfo::ID_PUBLISHER)
+          {
+            requestSyncTime();
+            negotiateTopics();
+            last_sync_time = c_time;
+            last_sync_receive_time = c_time;
+            return SPIN_ERR;
+          }
+          else if (topic_ == TopicInfo::ID_TIME)
+          {
+            syncTime(message_in);
+          }
+          else if (topic_ == TopicInfo::ID_PARAMETER_REQUEST)
+          {
+            req_param_resp.deserialize(message_in);
+            param_recieved = true;
+          }
+          else if (topic_ == TopicInfo::ID_TX_STOP)
+          {
+            configured_ = false;
+          }
+          else
+          {
+            if (subscribers[topic_ - 100])
+              subscribers[topic_ - 100]->callback(message_in);
+          }
+        }
+      }
+    }
+
+    /* occasionally sync time */
+    if (configured_ && ((c_time - last_sync_time) > (SYNC_SECONDS * 500)))
+    {
+      requestSyncTime();
+      last_sync_time = c_time;
+    }
+
+    return SPIN_OK;
+  }
+
+
+  /* Are we connected to the PC? */
+  virtual bool connected()
+  {
+    return configured_;
+  };
+
+  /********************************************************************
+   * Time functions
+   */
+
+  void requestSyncTime()
+  {
+    std_msgs::Time t;
+    publish(TopicInfo::ID_TIME, &t);
+    rt_time = hardware_.time();
+  }
+
+  void syncTime(uint8_t * data)
+  {
+    std_msgs::Time t;
+    uint32_t offset = hardware_.time() - rt_time;
+
+    t.deserialize(data);
+    t.data.sec += offset / 1000;
+    t.data.nsec += (offset % 1000) * 1000000UL;
+
+    this->setNow(t.data);
+    last_sync_receive_time = hardware_.time();
+  }
+
+  Time now()
+  {
+    uint32_t ms = hardware_.time();
+    Time current_time;
+    current_time.sec = ms / 1000 + sec_offset;
+    current_time.nsec = (ms % 1000) * 1000000UL + nsec_offset;
+    normalizeSecNSec(current_time.sec, current_time.nsec);
+    return current_time;
+  }
+
+  void setNow(Time & new_now)
+  {
+    uint32_t ms = hardware_.time();
+    sec_offset = new_now.sec - ms / 1000 - 1;
+    nsec_offset = new_now.nsec - (ms % 1000) * 1000000UL + 1000000000UL;
+    normalizeSecNSec(sec_offset, nsec_offset);
+  }
+
+  /********************************************************************
+   * Topic Management
+   */
+
+  /* Register a new publisher */
+  bool advertise(Publisher & p)
+  {
+    for (int i = 0; i < MAX_PUBLISHERS; i++)
+    {
+      if (publishers[i] == 0) // empty slot
+      {
+        publishers[i] = &p;
+        p.id_ = i + 100 + MAX_SUBSCRIBERS;
+        p.nh_ = this;
+        return true;
+      }
+    }
+    return false;
+  }
+
+  /* Register a new subscriber */
+  template<typename SubscriberT>
+  bool subscribe(SubscriberT& s)
+  {
+    for (int i = 0; i < MAX_SUBSCRIBERS; i++)
+    {
+      if (subscribers[i] == 0) // empty slot
+      {
+        subscribers[i] = static_cast<Subscriber_*>(&s);
+        s.id_ = i + 100;
+        return true;
+      }
+    }
+    return false;
+  }
+
+  /* Register a new Service Server */
+  template<typename MReq, typename MRes, typename ObjT>
+  bool advertiseService(ServiceServer<MReq, MRes, ObjT>& srv)
+  {
+    bool v = advertise(srv.pub);
+    for (int i = 0; i < MAX_SUBSCRIBERS; i++)
+    {
+      if (subscribers[i] == 0) // empty slot
+      {
+        subscribers[i] = static_cast<Subscriber_*>(&srv);
+        srv.id_ = i + 100;
+        return v;
+      }
+    }
+    return false;
+  }
+
+  /* Register a new Service Client */
+  template<typename MReq, typename MRes>
+  bool serviceClient(ServiceClient<MReq, MRes>& srv)
+  {
+    bool v = advertise(srv.pub);
+    for (int i = 0; i < MAX_SUBSCRIBERS; i++)
+    {
+      if (subscribers[i] == 0) // empty slot
+      {
+        subscribers[i] = static_cast<Subscriber_*>(&srv);
+        srv.id_ = i + 100;
+        return v;
+      }
+    }
+    return false;
+  }
+
+  void negotiateTopics()
+  {
+    rosserial_msgs::TopicInfo ti;
+    int i;
+    for (i = 0; i < MAX_PUBLISHERS; i++)
+    {
+      if (publishers[i] != 0) // non-empty slot
+      {
+        ti.topic_id = publishers[i]->id_;
+        ti.topic_name = (char *) publishers[i]->topic_;
+        ti.message_type = (char *) publishers[i]->msg_->getType();
+        ti.md5sum = (char *) publishers[i]->msg_->getMD5();
+        ti.buffer_size = OUTPUT_SIZE;
+        publish(publishers[i]->getEndpointType(), &ti);
+      }
+    }
+    for (i = 0; i < MAX_SUBSCRIBERS; i++)
+    {
+      if (subscribers[i] != 0) // non-empty slot
+      {
+        ti.topic_id = subscribers[i]->id_;
+        ti.topic_name = (char *) subscribers[i]->topic_;
+        ti.message_type = (char *) subscribers[i]->getMsgType();
+        ti.md5sum = (char *) subscribers[i]->getMsgMD5();
+        ti.buffer_size = INPUT_SIZE;
+        publish(subscribers[i]->getEndpointType(), &ti);
+      }
+    }
+    configured_ = true;
+  }
+
+  virtual int publish(int id, const Msg * msg)
+  {
+    if (id >= 100 && !configured_)
+      return 0;
+
+    /* serialize message */
+    int l = msg->serialize(message_out + 7);
+
+    /* setup the header */
+    message_out[0] = 0xff;
+    message_out[1] = PROTOCOL_VER;
+    message_out[2] = (uint8_t)((uint16_t)l & 255);
+    message_out[3] = (uint8_t)((uint16_t)l >> 8);
+    message_out[4] = 255 - ((message_out[2] + message_out[3]) % 256);
+    message_out[5] = (uint8_t)((int16_t)id & 255);
+    message_out[6] = (uint8_t)((int16_t)id >> 8);
+
+    /* calculate checksum */
+    int chk = 0;
+    for (int i = 5; i < l + 7; i++)
+      chk += message_out[i];
+    l += 7;
+    message_out[l++] = 255 - (chk % 256);
+
+    if (l <= OUTPUT_SIZE)
+    {
+      hardware_.write(message_out, l);
+      return l;
+    }
+    else
+    {
+      logerror("Message from device dropped: message larger than buffer.");
+      return -1;
+    }
+  }
+
+  /********************************************************************
+   * Logging
+   */
+
+private:
+  void log(char byte, const char * msg)
+  {
+    rosserial_msgs::Log l;
+    l.level = byte;
+    l.msg = (char*)msg;
+    publish(rosserial_msgs::TopicInfo::ID_LOG, &l);
+  }
+
+public:
+  void logdebug(const char* msg)
+  {
+    log(rosserial_msgs::Log::ROSDEBUG, msg);
+  }
+  void loginfo(const char * msg)
+  {
+    log(rosserial_msgs::Log::INFO, msg);
+  }
+  void logwarn(const char *msg)
+  {
+    log(rosserial_msgs::Log::WARN, msg);
+  }
+  void logerror(const char*msg)
+  {
+    log(rosserial_msgs::Log::ERROR, msg);
+  }
+  void logfatal(const char*msg)
+  {
+    log(rosserial_msgs::Log::FATAL, msg);
+  }
+
+  /********************************************************************
+   * Parameters
+   */
+
+private:
+  bool param_recieved;
+  rosserial_msgs::RequestParamResponse req_param_resp;
+
+  bool requestParam(const char * name, int time_out =  1000)
+  {
+    param_recieved = false;
+    rosserial_msgs::RequestParamRequest req;
+    req.name  = (char*)name;
+    publish(TopicInfo::ID_PARAMETER_REQUEST, &req);
+    uint32_t end_time = hardware_.time() + time_out;
+    while (!param_recieved)
+    {
+      spinOnce();
+      if (hardware_.time() > end_time)
+      {
+        logwarn("Failed to get param: timeout expired");
+        return false;
+      }
+    }
+    return true;
+  }
+
+public:
+  bool getParam(const char* name, int* param, int length = 1, int timeout = 1000)
+  {
+    if (requestParam(name, timeout))
+    {
+      if (length == req_param_resp.ints_length)
+      {
+        //copy it over
+        for (int i = 0; i < length; i++)
+          param[i] = req_param_resp.ints[i];
+        return true;
+      }
+      else
+      {
+        logwarn("Failed to get param: length mismatch");
+      }
+    }
+    return false;
+  }
+  bool getParam(const char* name, float* param, int length = 1, int timeout = 1000)
+  {
+    if (requestParam(name, timeout))
+    {
+      if (length == req_param_resp.floats_length)
+      {
+        //copy it over
+        for (int i = 0; i < length; i++)
+          param[i] = req_param_resp.floats[i];
+        return true;
+      }
+      else
+      {
+        logwarn("Failed to get param: length mismatch");
+      }
+    }
+    return false;
+  }
+  bool getParam(const char* name, char** param, int length = 1, int timeout = 1000)
+  {
+    if (requestParam(name, timeout))
+    {
+      if (length == req_param_resp.strings_length)
+      {
+        //copy it over
+        for (int i = 0; i < length; i++)
+          strcpy(param[i], req_param_resp.strings[i]);
+        return true;
+      }
+      else
+      {
+        logwarn("Failed to get param: length mismatch");
+      }
+    }
+    return false;
+  }
+};
+
+}
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/publisher.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/publisher.h
new file mode 100644
index 0000000..6fd3b7a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/publisher.h
@@ -0,0 +1,74 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_PUBLISHER_H_
+#define _ROS_PUBLISHER_H_
+
+#include "rosserial_msgs/TopicInfo.h"
+#include "ros/node_handle.h"
+
+namespace ros
+{
+
+/* Generic Publisher */
+class Publisher
+{
+public:
+  Publisher(const char * topic_name, Msg * msg, int endpoint = rosserial_msgs::TopicInfo::ID_PUBLISHER) :
+    topic_(topic_name),
+    msg_(msg),
+    endpoint_(endpoint) {};
+
+  int publish(const Msg * msg)
+  {
+    return nh_->publish(id_, msg);
+  };
+  int getEndpointType()
+  {
+    return endpoint_;
+  }
+
+  const char * topic_;
+  Msg *msg_;
+  // id_ and no_ are set by NodeHandle when we advertise
+  int id_;
+  NodeHandleBase_* nh_;
+
+private:
+  int endpoint_;
+};
+
+}
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/service_client.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/service_client.h
new file mode 100644
index 0000000..3494d96
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/service_client.h
@@ -0,0 +1,95 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_SERVICE_CLIENT_H_
+#define _ROS_SERVICE_CLIENT_H_
+
+#include "rosserial_msgs/TopicInfo.h"
+
+#include "ros/publisher.h"
+#include "ros/subscriber.h"
+
+namespace ros
+{
+
+template<typename MReq , typename MRes>
+class ServiceClient : public Subscriber_
+{
+public:
+  ServiceClient(const char* topic_name) :
+    pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER)
+  {
+    this->topic_ = topic_name;
+    this->waiting = true;
+  }
+
+  virtual void call(const MReq & request, MRes & response)
+  {
+    if (!pub.nh_->connected()) return;
+    ret = &response;
+    waiting = true;
+    pub.publish(&request);
+    while (waiting && pub.nh_->connected())
+      if (pub.nh_->spinOnce() < 0) break;
+  }
+
+  // these refer to the subscriber
+  virtual void callback(unsigned char *data)
+  {
+    ret->deserialize(data);
+    waiting = false;
+  }
+  virtual const char * getMsgType()
+  {
+    return this->resp.getType();
+  }
+  virtual const char * getMsgMD5()
+  {
+    return this->resp.getMD5();
+  }
+  virtual int getEndpointType()
+  {
+    return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
+  }
+
+  MReq req;
+  MRes resp;
+  MRes * ret;
+  bool waiting;
+  Publisher pub;
+};
+
+}
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/service_server.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/service_server.h
new file mode 100644
index 0000000..459d66e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/service_server.h
@@ -0,0 +1,130 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_SERVICE_SERVER_H_
+#define _ROS_SERVICE_SERVER_H_
+
+#include "rosserial_msgs/TopicInfo.h"
+
+#include "ros/publisher.h"
+#include "ros/subscriber.h"
+
+namespace ros
+{
+
+template<typename MReq , typename MRes, typename ObjT = void>
+class ServiceServer : public Subscriber_
+{
+public:
+  typedef void(ObjT::*CallbackT)(const MReq&,  MRes&);
+
+  ServiceServer(const char* topic_name, CallbackT cb, ObjT* obj) :
+    pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER),
+    obj_(obj)
+  {
+    this->topic_ = topic_name;
+    this->cb_ = cb;
+  }
+
+  // these refer to the subscriber
+  virtual void callback(unsigned char *data)
+  {
+    req.deserialize(data);
+    (obj_->*cb_)(req, resp);
+    pub.publish(&resp);
+  }
+  virtual const char * getMsgType()
+  {
+    return this->req.getType();
+  }
+  virtual const char * getMsgMD5()
+  {
+    return this->req.getMD5();
+  }
+  virtual int getEndpointType()
+  {
+    return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
+  }
+
+  MReq req;
+  MRes resp;
+  Publisher pub;
+private:
+  CallbackT cb_;
+  ObjT* obj_;
+};
+
+template<typename MReq , typename MRes>
+class ServiceServer<MReq, MRes, void> : public Subscriber_
+{
+public:
+  typedef void(*CallbackT)(const MReq&,  MRes&);
+
+  ServiceServer(const char* topic_name, CallbackT cb) :
+    pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
+  {
+    this->topic_ = topic_name;
+    this->cb_ = cb;
+  }
+
+  // these refer to the subscriber
+  virtual void callback(unsigned char *data)
+  {
+    req.deserialize(data);
+    cb_(req, resp);
+    pub.publish(&resp);
+  }
+  virtual const char * getMsgType()
+  {
+    return this->req.getType();
+  }
+  virtual const char * getMsgMD5()
+  {
+    return this->req.getMD5();
+  }
+  virtual int getEndpointType()
+  {
+    return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER;
+  }
+
+  MReq req;
+  MRes resp;
+  Publisher pub;
+private:
+  CallbackT cb_;
+};
+
+}
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/subscriber.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/subscriber.h
new file mode 100644
index 0000000..d420bba
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/subscriber.h
@@ -0,0 +1,140 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_SUBSCRIBER_H_
+#define ROS_SUBSCRIBER_H_
+
+#include "rosserial_msgs/TopicInfo.h"
+
+namespace ros
+{
+
+/* Base class for objects subscribers. */
+class Subscriber_
+{
+public:
+  virtual void callback(unsigned char *data) = 0;
+  virtual int getEndpointType() = 0;
+
+  // id_ is set by NodeHandle when we advertise
+  int id_;
+
+  virtual const char * getMsgType() = 0;
+  virtual const char * getMsgMD5() = 0;
+  const char * topic_;
+};
+
+/* Bound function subscriber. */
+template<typename MsgT, typename ObjT = void>
+class Subscriber: public Subscriber_
+{
+public:
+  typedef void(ObjT::*CallbackT)(const MsgT&);
+  MsgT msg;
+
+  Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint = rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
+    cb_(cb),
+    obj_(obj),
+    endpoint_(endpoint)
+  {
+    topic_ = topic_name;
+  };
+
+  virtual void callback(unsigned char* data)
+  {
+    msg.deserialize(data);
+    (obj_->*cb_)(msg);
+  }
+
+  virtual const char * getMsgType()
+  {
+    return this->msg.getType();
+  }
+  virtual const char * getMsgMD5()
+  {
+    return this->msg.getMD5();
+  }
+  virtual int getEndpointType()
+  {
+    return endpoint_;
+  }
+
+private:
+  CallbackT cb_;
+  ObjT* obj_;
+  int endpoint_;
+};
+
+/* Standalone function subscriber. */
+template<typename MsgT>
+class Subscriber<MsgT, void>: public Subscriber_
+{
+public:
+  typedef void(*CallbackT)(const MsgT&);
+  MsgT msg;
+
+  Subscriber(const char * topic_name, CallbackT cb, int endpoint = rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
+    cb_(cb),
+    endpoint_(endpoint)
+  {
+    topic_ = topic_name;
+  };
+
+  virtual void callback(unsigned char* data)
+  {
+    msg.deserialize(data);
+    this->cb_(msg);
+  }
+
+  virtual const char * getMsgType()
+  {
+    return this->msg.getType();
+  }
+  virtual const char * getMsgMD5()
+  {
+    return this->msg.getMD5();
+  }
+  virtual int getEndpointType()
+  {
+    return endpoint_;
+  }
+
+private:
+  CallbackT cb_;
+  int endpoint_;
+};
+
+}
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/time.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/time.h
new file mode 100644
index 0000000..441d952
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/ros/time.h
@@ -0,0 +1,82 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_TIME_H_
+#define ROS_TIME_H_
+
+#include "ros/duration.h"
+#include <math.h>
+#include <stdint.h>
+
+namespace ros
+{
+void normalizeSecNSec(uint32_t &sec, uint32_t &nsec);
+
+class Time
+{
+public:
+  uint32_t sec, nsec;
+
+  Time() : sec(0), nsec(0) {}
+  Time(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec)
+  {
+    normalizeSecNSec(sec, nsec);
+  }
+
+  double toSec() const
+  {
+    return (double)sec + 1e-9 * (double)nsec;
+  };
+  void fromSec(double t)
+  {
+    sec = (uint32_t) floor(t);
+    nsec = (uint32_t) round((t - sec) * 1e9);
+  };
+
+  uint32_t toNsec()
+  {
+    return (uint32_t)sec * 1000000000ull + (uint32_t)nsec;
+  };
+  Time& fromNSec(int32_t t);
+
+  Time& operator +=(const Duration &rhs);
+  Time& operator -=(const Duration &rhs);
+
+  static Time now();
+  static void setNow(Time & new_now);
+};
+
+}
+
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/Empty.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/Empty.h
new file mode 100644
index 0000000..df021b7
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/Empty.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_SERVICE_Empty_h
+#define _ROS_SERVICE_Empty_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace roscpp
+{
+
+static const char EMPTY[] = "roscpp/Empty";
+
+  class EmptyRequest : public ros::Msg
+  {
+    public:
+
+    EmptyRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return EMPTY; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class EmptyResponse : public ros::Msg
+  {
+    public:
+
+    EmptyResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return EMPTY; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class Empty {
+    public:
+    typedef EmptyRequest Request;
+    typedef EmptyResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/GetLoggers.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/GetLoggers.h
new file mode 100644
index 0000000..35f67fb
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/GetLoggers.h
@@ -0,0 +1,96 @@
+#ifndef _ROS_SERVICE_GetLoggers_h
+#define _ROS_SERVICE_GetLoggers_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "roscpp/Logger.h"
+
+namespace roscpp
+{
+
+static const char GETLOGGERS[] = "roscpp/GetLoggers";
+
+  class GetLoggersRequest : public ros::Msg
+  {
+    public:
+
+    GetLoggersRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETLOGGERS; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetLoggersResponse : public ros::Msg
+  {
+    public:
+      uint32_t loggers_length;
+      typedef roscpp::Logger _loggers_type;
+      _loggers_type st_loggers;
+      _loggers_type * loggers;
+
+    GetLoggersResponse():
+      loggers_length(0), loggers(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->loggers_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->loggers_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->loggers_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->loggers_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->loggers_length);
+      for( uint32_t i = 0; i < loggers_length; i++){
+      offset += this->loggers[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t loggers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      loggers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      loggers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      loggers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->loggers_length);
+      if(loggers_lengthT > loggers_length)
+        this->loggers = (roscpp::Logger*)realloc(this->loggers, loggers_lengthT * sizeof(roscpp::Logger));
+      loggers_length = loggers_lengthT;
+      for( uint32_t i = 0; i < loggers_length; i++){
+      offset += this->st_loggers.deserialize(inbuffer + offset);
+        memcpy( &(this->loggers[i]), &(this->st_loggers), sizeof(roscpp::Logger));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return GETLOGGERS; };
+    const char * getMD5(){ return "32e97e85527d4678a8f9279894bb64b0"; };
+
+  };
+
+  class GetLoggers {
+    public:
+    typedef GetLoggersRequest Request;
+    typedef GetLoggersResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/Logger.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/Logger.h
new file mode 100644
index 0000000..b954b71
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/Logger.h
@@ -0,0 +1,72 @@
+#ifndef _ROS_roscpp_Logger_h
+#define _ROS_roscpp_Logger_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace roscpp
+{
+
+  class Logger : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef const char* _level_type;
+      _level_type level;
+
+    Logger():
+      name(""),
+      level("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_level = strlen(this->level);
+      varToArr(outbuffer + offset, length_level);
+      offset += 4;
+      memcpy(outbuffer + offset, this->level, length_level);
+      offset += length_level;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_level;
+      arrToVar(length_level, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_level; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_level-1]=0;
+      this->level = (char *)(inbuffer + offset-1);
+      offset += length_level;
+     return offset;
+    }
+
+    const char * getType(){ return "roscpp/Logger"; };
+    const char * getMD5(){ return "a6069a2ff40db7bd32143dd66e1f408e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/SetLoggerLevel.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/SetLoggerLevel.h
new file mode 100644
index 0000000..64f2a24
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp/SetLoggerLevel.h
@@ -0,0 +1,104 @@
+#ifndef _ROS_SERVICE_SetLoggerLevel_h
+#define _ROS_SERVICE_SetLoggerLevel_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace roscpp
+{
+
+static const char SETLOGGERLEVEL[] = "roscpp/SetLoggerLevel";
+
+  class SetLoggerLevelRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _logger_type;
+      _logger_type logger;
+      typedef const char* _level_type;
+      _level_type level;
+
+    SetLoggerLevelRequest():
+      logger(""),
+      level("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_logger = strlen(this->logger);
+      varToArr(outbuffer + offset, length_logger);
+      offset += 4;
+      memcpy(outbuffer + offset, this->logger, length_logger);
+      offset += length_logger;
+      uint32_t length_level = strlen(this->level);
+      varToArr(outbuffer + offset, length_level);
+      offset += 4;
+      memcpy(outbuffer + offset, this->level, length_level);
+      offset += length_level;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_logger;
+      arrToVar(length_logger, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_logger; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_logger-1]=0;
+      this->logger = (char *)(inbuffer + offset-1);
+      offset += length_logger;
+      uint32_t length_level;
+      arrToVar(length_level, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_level; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_level-1]=0;
+      this->level = (char *)(inbuffer + offset-1);
+      offset += length_level;
+     return offset;
+    }
+
+    const char * getType(){ return SETLOGGERLEVEL; };
+    const char * getMD5(){ return "51da076440d78ca1684d36c868df61ea"; };
+
+  };
+
+  class SetLoggerLevelResponse : public ros::Msg
+  {
+    public:
+
+    SetLoggerLevelResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SETLOGGERLEVEL; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SetLoggerLevel {
+    public:
+    typedef SetLoggerLevelRequest Request;
+    typedef SetLoggerLevelResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp_tutorials/TwoInts.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp_tutorials/TwoInts.h
new file mode 100644
index 0000000..03510bb
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/roscpp_tutorials/TwoInts.h
@@ -0,0 +1,166 @@
+#ifndef _ROS_SERVICE_TwoInts_h
+#define _ROS_SERVICE_TwoInts_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace roscpp_tutorials
+{
+
+static const char TWOINTS[] = "roscpp_tutorials/TwoInts";
+
+  class TwoIntsRequest : public ros::Msg
+  {
+    public:
+      typedef int64_t _a_type;
+      _a_type a;
+      typedef int64_t _b_type;
+      _b_type b;
+
+    TwoIntsRequest():
+      a(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_b.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_b.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_b.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_b.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return TWOINTS; };
+    const char * getMD5(){ return "36d09b846be0b371c5f190354dd3153e"; };
+
+  };
+
+  class TwoIntsResponse : public ros::Msg
+  {
+    public:
+      typedef int64_t _sum_type;
+      _sum_type sum;
+
+    TwoIntsResponse():
+      sum(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.real = this->sum;
+      *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sum.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sum.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sum.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sum.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sum);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.base = 0;
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sum = u_sum.real;
+      offset += sizeof(this->sum);
+     return offset;
+    }
+
+    const char * getType(){ return TWOINTS; };
+    const char * getMD5(){ return "b88405221c77b1878a3cbbfff53428d7"; };
+
+  };
+
+  class TwoInts {
+    public:
+    typedef TwoIntsRequest Request;
+    typedef TwoIntsResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosgraph_msgs/Clock.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosgraph_msgs/Clock.h
new file mode 100644
index 0000000..4d8736c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosgraph_msgs/Clock.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_rosgraph_msgs_Clock_h
+#define _ROS_rosgraph_msgs_Clock_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace rosgraph_msgs
+{
+
+  class Clock : public ros::Msg
+  {
+    public:
+      typedef ros::Time _clock_type;
+      _clock_type clock;
+
+    Clock():
+      clock()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->clock.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->clock.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->clock.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->clock.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->clock.sec);
+      *(outbuffer + offset + 0) = (this->clock.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->clock.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->clock.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->clock.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->clock.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->clock.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->clock.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->clock.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->clock.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->clock.sec);
+      this->clock.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->clock.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->clock.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->clock.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->clock.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "rosgraph_msgs/Clock"; };
+    const char * getMD5(){ return "a9c97c1d230cfc112e270351a944ee47"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosgraph_msgs/Log.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosgraph_msgs/Log.h
new file mode 100644
index 0000000..45c4566
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosgraph_msgs/Log.h
@@ -0,0 +1,185 @@
+#ifndef _ROS_rosgraph_msgs_Log_h
+#define _ROS_rosgraph_msgs_Log_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace rosgraph_msgs
+{
+
+  class Log : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef int8_t _level_type;
+      _level_type level;
+      typedef const char* _name_type;
+      _name_type name;
+      typedef const char* _msg_type;
+      _msg_type msg;
+      typedef const char* _file_type;
+      _file_type file;
+      typedef const char* _function_type;
+      _function_type function;
+      typedef uint32_t _line_type;
+      _line_type line;
+      uint32_t topics_length;
+      typedef char* _topics_type;
+      _topics_type st_topics;
+      _topics_type * topics;
+      enum { DEBUG = 1  };
+      enum { INFO = 2   };
+      enum { WARN = 4   };
+      enum { ERROR = 8  };
+      enum { FATAL = 16  };
+
+    Log():
+      header(),
+      level(0),
+      name(""),
+      msg(""),
+      file(""),
+      function(""),
+      line(0),
+      topics_length(0), topics(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_level;
+      u_level.real = this->level;
+      *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->level);
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_msg = strlen(this->msg);
+      varToArr(outbuffer + offset, length_msg);
+      offset += 4;
+      memcpy(outbuffer + offset, this->msg, length_msg);
+      offset += length_msg;
+      uint32_t length_file = strlen(this->file);
+      varToArr(outbuffer + offset, length_file);
+      offset += 4;
+      memcpy(outbuffer + offset, this->file, length_file);
+      offset += length_file;
+      uint32_t length_function = strlen(this->function);
+      varToArr(outbuffer + offset, length_function);
+      offset += 4;
+      memcpy(outbuffer + offset, this->function, length_function);
+      offset += length_function;
+      *(outbuffer + offset + 0) = (this->line >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->line >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->line >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->line >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->line);
+      *(outbuffer + offset + 0) = (this->topics_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->topics_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->topics_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->topics_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->topics_length);
+      for( uint32_t i = 0; i < topics_length; i++){
+      uint32_t length_topicsi = strlen(this->topics[i]);
+      varToArr(outbuffer + offset, length_topicsi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topics[i], length_topicsi);
+      offset += length_topicsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_level;
+      u_level.base = 0;
+      u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->level = u_level.real;
+      offset += sizeof(this->level);
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_msg;
+      arrToVar(length_msg, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_msg; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_msg-1]=0;
+      this->msg = (char *)(inbuffer + offset-1);
+      offset += length_msg;
+      uint32_t length_file;
+      arrToVar(length_file, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_file; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_file-1]=0;
+      this->file = (char *)(inbuffer + offset-1);
+      offset += length_file;
+      uint32_t length_function;
+      arrToVar(length_function, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_function; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_function-1]=0;
+      this->function = (char *)(inbuffer + offset-1);
+      offset += length_function;
+      this->line =  ((uint32_t) (*(inbuffer + offset)));
+      this->line |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->line |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->line |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->line);
+      uint32_t topics_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->topics_length);
+      if(topics_lengthT > topics_length)
+        this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
+      topics_length = topics_lengthT;
+      for( uint32_t i = 0; i < topics_length; i++){
+      uint32_t length_st_topics;
+      arrToVar(length_st_topics, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_topics; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_topics-1]=0;
+      this->st_topics = (char *)(inbuffer + offset-1);
+      offset += length_st_topics;
+        memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "rosgraph_msgs/Log"; };
+    const char * getMD5(){ return "acffd30cd6b6de30f120938c17c593fb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosgraph_msgs/TopicStatistics.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosgraph_msgs/TopicStatistics.h
new file mode 100644
index 0000000..c62f2f9
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosgraph_msgs/TopicStatistics.h
@@ -0,0 +1,347 @@
+#ifndef _ROS_rosgraph_msgs_TopicStatistics_h
+#define _ROS_rosgraph_msgs_TopicStatistics_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+#include "ros/duration.h"
+
+namespace rosgraph_msgs
+{
+
+  class TopicStatistics : public ros::Msg
+  {
+    public:
+      typedef const char* _topic_type;
+      _topic_type topic;
+      typedef const char* _node_pub_type;
+      _node_pub_type node_pub;
+      typedef const char* _node_sub_type;
+      _node_sub_type node_sub;
+      typedef ros::Time _window_start_type;
+      _window_start_type window_start;
+      typedef ros::Time _window_stop_type;
+      _window_stop_type window_stop;
+      typedef int32_t _delivered_msgs_type;
+      _delivered_msgs_type delivered_msgs;
+      typedef int32_t _dropped_msgs_type;
+      _dropped_msgs_type dropped_msgs;
+      typedef int32_t _traffic_type;
+      _traffic_type traffic;
+      typedef ros::Duration _period_mean_type;
+      _period_mean_type period_mean;
+      typedef ros::Duration _period_stddev_type;
+      _period_stddev_type period_stddev;
+      typedef ros::Duration _period_max_type;
+      _period_max_type period_max;
+      typedef ros::Duration _stamp_age_mean_type;
+      _stamp_age_mean_type stamp_age_mean;
+      typedef ros::Duration _stamp_age_stddev_type;
+      _stamp_age_stddev_type stamp_age_stddev;
+      typedef ros::Duration _stamp_age_max_type;
+      _stamp_age_max_type stamp_age_max;
+
+    TopicStatistics():
+      topic(""),
+      node_pub(""),
+      node_sub(""),
+      window_start(),
+      window_stop(),
+      delivered_msgs(0),
+      dropped_msgs(0),
+      traffic(0),
+      period_mean(),
+      period_stddev(),
+      period_max(),
+      stamp_age_mean(),
+      stamp_age_stddev(),
+      stamp_age_max()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      varToArr(outbuffer + offset, length_topic);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      uint32_t length_node_pub = strlen(this->node_pub);
+      varToArr(outbuffer + offset, length_node_pub);
+      offset += 4;
+      memcpy(outbuffer + offset, this->node_pub, length_node_pub);
+      offset += length_node_pub;
+      uint32_t length_node_sub = strlen(this->node_sub);
+      varToArr(outbuffer + offset, length_node_sub);
+      offset += 4;
+      memcpy(outbuffer + offset, this->node_sub, length_node_sub);
+      offset += length_node_sub;
+      *(outbuffer + offset + 0) = (this->window_start.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_start.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_start.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_start.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_start.sec);
+      *(outbuffer + offset + 0) = (this->window_start.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_start.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_start.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_start.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_start.nsec);
+      *(outbuffer + offset + 0) = (this->window_stop.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_stop.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_stop.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_stop.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_stop.sec);
+      *(outbuffer + offset + 0) = (this->window_stop.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_stop.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_stop.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_stop.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_stop.nsec);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_delivered_msgs;
+      u_delivered_msgs.real = this->delivered_msgs;
+      *(outbuffer + offset + 0) = (u_delivered_msgs.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_delivered_msgs.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_delivered_msgs.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_delivered_msgs.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delivered_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_dropped_msgs;
+      u_dropped_msgs.real = this->dropped_msgs;
+      *(outbuffer + offset + 0) = (u_dropped_msgs.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dropped_msgs.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dropped_msgs.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dropped_msgs.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dropped_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_traffic;
+      u_traffic.real = this->traffic;
+      *(outbuffer + offset + 0) = (u_traffic.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_traffic.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_traffic.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_traffic.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->traffic);
+      *(outbuffer + offset + 0) = (this->period_mean.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_mean.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_mean.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_mean.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_mean.sec);
+      *(outbuffer + offset + 0) = (this->period_mean.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_mean.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_mean.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_mean.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_mean.nsec);
+      *(outbuffer + offset + 0) = (this->period_stddev.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_stddev.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_stddev.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_stddev.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_stddev.sec);
+      *(outbuffer + offset + 0) = (this->period_stddev.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_stddev.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_stddev.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_stddev.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_stddev.nsec);
+      *(outbuffer + offset + 0) = (this->period_max.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_max.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_max.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_max.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_max.sec);
+      *(outbuffer + offset + 0) = (this->period_max.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_max.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_max.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_max.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_max.nsec);
+      *(outbuffer + offset + 0) = (this->stamp_age_mean.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_mean.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_mean.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_mean.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_mean.sec);
+      *(outbuffer + offset + 0) = (this->stamp_age_mean.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_mean.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_mean.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_mean.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_mean.nsec);
+      *(outbuffer + offset + 0) = (this->stamp_age_stddev.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_stddev.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_stddev.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_stddev.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_stddev.sec);
+      *(outbuffer + offset + 0) = (this->stamp_age_stddev.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_stddev.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_stddev.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_stddev.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_stddev.nsec);
+      *(outbuffer + offset + 0) = (this->stamp_age_max.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_max.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_max.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_max.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_max.sec);
+      *(outbuffer + offset + 0) = (this->stamp_age_max.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_max.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_max.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_max.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_max.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      arrToVar(length_topic, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+      uint32_t length_node_pub;
+      arrToVar(length_node_pub, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_node_pub; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_node_pub-1]=0;
+      this->node_pub = (char *)(inbuffer + offset-1);
+      offset += length_node_pub;
+      uint32_t length_node_sub;
+      arrToVar(length_node_sub, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_node_sub; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_node_sub-1]=0;
+      this->node_sub = (char *)(inbuffer + offset-1);
+      offset += length_node_sub;
+      this->window_start.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_start.sec);
+      this->window_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_start.nsec);
+      this->window_stop.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_stop.sec);
+      this->window_stop.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_stop.nsec);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_delivered_msgs;
+      u_delivered_msgs.base = 0;
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->delivered_msgs = u_delivered_msgs.real;
+      offset += sizeof(this->delivered_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_dropped_msgs;
+      u_dropped_msgs.base = 0;
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dropped_msgs = u_dropped_msgs.real;
+      offset += sizeof(this->dropped_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_traffic;
+      u_traffic.base = 0;
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->traffic = u_traffic.real;
+      offset += sizeof(this->traffic);
+      this->period_mean.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_mean.sec);
+      this->period_mean.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_mean.nsec);
+      this->period_stddev.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_stddev.sec);
+      this->period_stddev.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_stddev.nsec);
+      this->period_max.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_max.sec);
+      this->period_max.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_max.nsec);
+      this->stamp_age_mean.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_mean.sec);
+      this->stamp_age_mean.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_mean.nsec);
+      this->stamp_age_stddev.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_stddev.sec);
+      this->stamp_age_stddev.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_stddev.nsec);
+      this->stamp_age_max.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_max.sec);
+      this->stamp_age_max.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_max.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "rosgraph_msgs/TopicStatistics"; };
+    const char * getMD5(){ return "10152ed868c5097a5e2e4a89d7daa710"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/AddTwoInts.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/AddTwoInts.h
new file mode 100644
index 0000000..04dec98
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/AddTwoInts.h
@@ -0,0 +1,166 @@
+#ifndef _ROS_SERVICE_AddTwoInts_h
+#define _ROS_SERVICE_AddTwoInts_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rospy_tutorials
+{
+
+static const char ADDTWOINTS[] = "rospy_tutorials/AddTwoInts";
+
+  class AddTwoIntsRequest : public ros::Msg
+  {
+    public:
+      typedef int64_t _a_type;
+      _a_type a;
+      typedef int64_t _b_type;
+      _b_type b;
+
+    AddTwoIntsRequest():
+      a(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_b.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_b.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_b.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_b.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return ADDTWOINTS; };
+    const char * getMD5(){ return "36d09b846be0b371c5f190354dd3153e"; };
+
+  };
+
+  class AddTwoIntsResponse : public ros::Msg
+  {
+    public:
+      typedef int64_t _sum_type;
+      _sum_type sum;
+
+    AddTwoIntsResponse():
+      sum(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.real = this->sum;
+      *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sum.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sum.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sum.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sum.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sum);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.base = 0;
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sum = u_sum.real;
+      offset += sizeof(this->sum);
+     return offset;
+    }
+
+    const char * getType(){ return ADDTWOINTS; };
+    const char * getMD5(){ return "b88405221c77b1878a3cbbfff53428d7"; };
+
+  };
+
+  class AddTwoInts {
+    public:
+    typedef AddTwoIntsRequest Request;
+    typedef AddTwoIntsResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/BadTwoInts.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/BadTwoInts.h
new file mode 100644
index 0000000..0218f54
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/BadTwoInts.h
@@ -0,0 +1,150 @@
+#ifndef _ROS_SERVICE_BadTwoInts_h
+#define _ROS_SERVICE_BadTwoInts_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rospy_tutorials
+{
+
+static const char BADTWOINTS[] = "rospy_tutorials/BadTwoInts";
+
+  class BadTwoIntsRequest : public ros::Msg
+  {
+    public:
+      typedef int64_t _a_type;
+      _a_type a;
+      typedef int32_t _b_type;
+      _b_type b;
+
+    BadTwoIntsRequest():
+      a(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->a);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return BADTWOINTS; };
+    const char * getMD5(){ return "29bb5c7dea8bf822f53e94b0ee5a3a56"; };
+
+  };
+
+  class BadTwoIntsResponse : public ros::Msg
+  {
+    public:
+      typedef int32_t _sum_type;
+      _sum_type sum;
+
+    BadTwoIntsResponse():
+      sum(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sum;
+      u_sum.real = this->sum;
+      *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sum);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sum;
+      u_sum.base = 0;
+      u_sum.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sum.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sum.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sum.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->sum = u_sum.real;
+      offset += sizeof(this->sum);
+     return offset;
+    }
+
+    const char * getType(){ return BADTWOINTS; };
+    const char * getMD5(){ return "0ba699c25c9418c0366f3595c0c8e8ec"; };
+
+  };
+
+  class BadTwoInts {
+    public:
+    typedef BadTwoIntsRequest Request;
+    typedef BadTwoIntsResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/Floats.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/Floats.h
new file mode 100644
index 0000000..c0d284c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/Floats.h
@@ -0,0 +1,82 @@
+#ifndef _ROS_rospy_tutorials_Floats_h
+#define _ROS_rospy_tutorials_Floats_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rospy_tutorials
+{
+
+  class Floats : public ros::Msg
+  {
+    public:
+      uint32_t data_length;
+      typedef float _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    Floats():
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "rospy_tutorials/Floats"; };
+    const char * getMD5(){ return "420cd38b6b071cd49f2970c3e2cee511"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/HeaderString.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/HeaderString.h
new file mode 100644
index 0000000..9fac4ef
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rospy_tutorials/HeaderString.h
@@ -0,0 +1,61 @@
+#ifndef _ROS_rospy_tutorials_HeaderString_h
+#define _ROS_rospy_tutorials_HeaderString_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace rospy_tutorials
+{
+
+  class HeaderString : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _data_type;
+      _data_type data;
+
+    HeaderString():
+      header(),
+      data("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_data = strlen(this->data);
+      varToArr(outbuffer + offset, length_data);
+      offset += 4;
+      memcpy(outbuffer + offset, this->data, length_data);
+      offset += length_data;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_data;
+      arrToVar(length_data, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_data-1]=0;
+      this->data = (char *)(inbuffer + offset-1);
+      offset += length_data;
+     return offset;
+    }
+
+    const char * getType(){ return "rospy_tutorials/HeaderString"; };
+    const char * getMD5(){ return "c99a9440709e4d4a9716d55b8270d5e7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_arduino/Adc.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_arduino/Adc.h
new file mode 100644
index 0000000..ac48677
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_arduino/Adc.h
@@ -0,0 +1,92 @@
+#ifndef _ROS_rosserial_arduino_Adc_h
+#define _ROS_rosserial_arduino_Adc_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_arduino
+{
+
+  class Adc : public ros::Msg
+  {
+    public:
+      typedef uint16_t _adc0_type;
+      _adc0_type adc0;
+      typedef uint16_t _adc1_type;
+      _adc1_type adc1;
+      typedef uint16_t _adc2_type;
+      _adc2_type adc2;
+      typedef uint16_t _adc3_type;
+      _adc3_type adc3;
+      typedef uint16_t _adc4_type;
+      _adc4_type adc4;
+      typedef uint16_t _adc5_type;
+      _adc5_type adc5;
+
+    Adc():
+      adc0(0),
+      adc1(0),
+      adc2(0),
+      adc3(0),
+      adc4(0),
+      adc5(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->adc0 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc0 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc0);
+      *(outbuffer + offset + 0) = (this->adc1 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc1 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc1);
+      *(outbuffer + offset + 0) = (this->adc2 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc2 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc2);
+      *(outbuffer + offset + 0) = (this->adc3 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc3 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc3);
+      *(outbuffer + offset + 0) = (this->adc4 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc4 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc4);
+      *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc5);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->adc0 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc0 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc0);
+      this->adc1 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc1 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc1);
+      this->adc2 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc2 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc2);
+      this->adc3 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc3 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc3);
+      this->adc4 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc4 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc4);
+      this->adc5 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc5);
+     return offset;
+    }
+
+    const char * getType(){ return "rosserial_arduino/Adc"; };
+    const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_arduino/Test.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_arduino/Test.h
new file mode 100644
index 0000000..cd806db
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_arduino/Test.h
@@ -0,0 +1,104 @@
+#ifndef _ROS_SERVICE_Test_h
+#define _ROS_SERVICE_Test_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_arduino
+{
+
+static const char TEST[] = "rosserial_arduino/Test";
+
+  class TestRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _input_type;
+      _input_type input;
+
+    TestRequest():
+      input("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_input = strlen(this->input);
+      varToArr(outbuffer + offset, length_input);
+      offset += 4;
+      memcpy(outbuffer + offset, this->input, length_input);
+      offset += length_input;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_input;
+      arrToVar(length_input, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_input; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_input-1]=0;
+      this->input = (char *)(inbuffer + offset-1);
+      offset += length_input;
+     return offset;
+    }
+
+    const char * getType(){ return TEST; };
+    const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; };
+
+  };
+
+  class TestResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _output_type;
+      _output_type output;
+
+    TestResponse():
+      output("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_output = strlen(this->output);
+      varToArr(outbuffer + offset, length_output);
+      offset += 4;
+      memcpy(outbuffer + offset, this->output, length_output);
+      offset += length_output;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_output;
+      arrToVar(length_output, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_output; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_output-1]=0;
+      this->output = (char *)(inbuffer + offset-1);
+      offset += length_output;
+     return offset;
+    }
+
+    const char * getType(){ return TEST; };
+    const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; };
+
+  };
+
+  class Test {
+    public:
+    typedef TestRequest Request;
+    typedef TestResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/Log.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/Log.h
new file mode 100644
index 0000000..af41e7b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/Log.h
@@ -0,0 +1,67 @@
+#ifndef _ROS_rosserial_msgs_Log_h
+#define _ROS_rosserial_msgs_Log_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_msgs
+{
+
+  class Log : public ros::Msg
+  {
+    public:
+      typedef uint8_t _level_type;
+      _level_type level;
+      typedef const char* _msg_type;
+      _msg_type msg;
+      enum { ROSDEBUG = 0 };
+      enum { INFO = 1 };
+      enum { WARN = 2 };
+      enum { ERROR = 3 };
+      enum { FATAL = 4 };
+
+    Log():
+      level(0),
+      msg("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->level >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->level);
+      uint32_t length_msg = strlen(this->msg);
+      varToArr(outbuffer + offset, length_msg);
+      offset += 4;
+      memcpy(outbuffer + offset, this->msg, length_msg);
+      offset += length_msg;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->level =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->level);
+      uint32_t length_msg;
+      arrToVar(length_msg, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_msg; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_msg-1]=0;
+      this->msg = (char *)(inbuffer + offset-1);
+      offset += length_msg;
+     return offset;
+    }
+
+    const char * getType(){ return "rosserial_msgs/Log"; };
+    const char * getMD5(){ return "11abd731c25933261cd6183bd12d6295"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/RequestMessageInfo.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/RequestMessageInfo.h
new file mode 100644
index 0000000..3466ddc
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/RequestMessageInfo.h
@@ -0,0 +1,121 @@
+#ifndef _ROS_SERVICE_RequestMessageInfo_h
+#define _ROS_SERVICE_RequestMessageInfo_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_msgs
+{
+
+static const char REQUESTMESSAGEINFO[] = "rosserial_msgs/RequestMessageInfo";
+
+  class RequestMessageInfoRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _type_type;
+      _type_type type;
+
+    RequestMessageInfoRequest():
+      type("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_type = strlen(this->type);
+      varToArr(outbuffer + offset, length_type);
+      offset += 4;
+      memcpy(outbuffer + offset, this->type, length_type);
+      offset += length_type;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_type;
+      arrToVar(length_type, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_type-1]=0;
+      this->type = (char *)(inbuffer + offset-1);
+      offset += length_type;
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTMESSAGEINFO; };
+    const char * getMD5(){ return "dc67331de85cf97091b7d45e5c64ab75"; };
+
+  };
+
+  class RequestMessageInfoResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _md5_type;
+      _md5_type md5;
+      typedef const char* _definition_type;
+      _definition_type definition;
+
+    RequestMessageInfoResponse():
+      md5(""),
+      definition("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_md5 = strlen(this->md5);
+      varToArr(outbuffer + offset, length_md5);
+      offset += 4;
+      memcpy(outbuffer + offset, this->md5, length_md5);
+      offset += length_md5;
+      uint32_t length_definition = strlen(this->definition);
+      varToArr(outbuffer + offset, length_definition);
+      offset += 4;
+      memcpy(outbuffer + offset, this->definition, length_definition);
+      offset += length_definition;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_md5;
+      arrToVar(length_md5, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_md5; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_md5-1]=0;
+      this->md5 = (char *)(inbuffer + offset-1);
+      offset += length_md5;
+      uint32_t length_definition;
+      arrToVar(length_definition, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_definition; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_definition-1]=0;
+      this->definition = (char *)(inbuffer + offset-1);
+      offset += length_definition;
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTMESSAGEINFO; };
+    const char * getMD5(){ return "fe452186a069bed40f09b8628fe5eac8"; };
+
+  };
+
+  class RequestMessageInfo {
+    public:
+    typedef RequestMessageInfoRequest Request;
+    typedef RequestMessageInfoResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/RequestParam.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/RequestParam.h
new file mode 100644
index 0000000..007653c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/RequestParam.h
@@ -0,0 +1,212 @@
+#ifndef _ROS_SERVICE_RequestParam_h
+#define _ROS_SERVICE_RequestParam_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_msgs
+{
+
+static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam";
+
+  class RequestParamRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+
+    RequestParamRequest():
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTPARAM; };
+    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
+
+  };
+
+  class RequestParamResponse : public ros::Msg
+  {
+    public:
+      uint32_t ints_length;
+      typedef int32_t _ints_type;
+      _ints_type st_ints;
+      _ints_type * ints;
+      uint32_t floats_length;
+      typedef float _floats_type;
+      _floats_type st_floats;
+      _floats_type * floats;
+      uint32_t strings_length;
+      typedef char* _strings_type;
+      _strings_type st_strings;
+      _strings_type * strings;
+
+    RequestParamResponse():
+      ints_length(0), ints(NULL),
+      floats_length(0), floats(NULL),
+      strings_length(0), strings(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->ints_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->ints_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->ints_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->ints_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->ints_length);
+      for( uint32_t i = 0; i < ints_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_intsi;
+      u_intsi.real = this->ints[i];
+      *(outbuffer + offset + 0) = (u_intsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_intsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_intsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_intsi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->ints[i]);
+      }
+      *(outbuffer + offset + 0) = (this->floats_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->floats_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->floats_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->floats_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->floats_length);
+      for( uint32_t i = 0; i < floats_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_floatsi;
+      u_floatsi.real = this->floats[i];
+      *(outbuffer + offset + 0) = (u_floatsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_floatsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_floatsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_floatsi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->floats[i]);
+      }
+      *(outbuffer + offset + 0) = (this->strings_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->strings_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->strings_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->strings_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->strings_length);
+      for( uint32_t i = 0; i < strings_length; i++){
+      uint32_t length_stringsi = strlen(this->strings[i]);
+      varToArr(outbuffer + offset, length_stringsi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->strings[i], length_stringsi);
+      offset += length_stringsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t ints_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      ints_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->ints_length);
+      if(ints_lengthT > ints_length)
+        this->ints = (int32_t*)realloc(this->ints, ints_lengthT * sizeof(int32_t));
+      ints_length = ints_lengthT;
+      for( uint32_t i = 0; i < ints_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_ints;
+      u_st_ints.base = 0;
+      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_ints = u_st_ints.real;
+      offset += sizeof(this->st_ints);
+        memcpy( &(this->ints[i]), &(this->st_ints), sizeof(int32_t));
+      }
+      uint32_t floats_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      floats_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->floats_length);
+      if(floats_lengthT > floats_length)
+        this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float));
+      floats_length = floats_lengthT;
+      for( uint32_t i = 0; i < floats_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_floats;
+      u_st_floats.base = 0;
+      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_floats = u_st_floats.real;
+      offset += sizeof(this->st_floats);
+        memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float));
+      }
+      uint32_t strings_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      strings_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->strings_length);
+      if(strings_lengthT > strings_length)
+        this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*));
+      strings_length = strings_lengthT;
+      for( uint32_t i = 0; i < strings_length; i++){
+      uint32_t length_st_strings;
+      arrToVar(length_st_strings, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_strings; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_strings-1]=0;
+      this->st_strings = (char *)(inbuffer + offset-1);
+      offset += length_st_strings;
+        memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTPARAM; };
+    const char * getMD5(){ return "9f0e98bda65981986ddf53afa7a40e49"; };
+
+  };
+
+  class RequestParam {
+    public:
+    typedef RequestParamRequest Request;
+    typedef RequestParamResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/RequestServiceInfo.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/RequestServiceInfo.h
new file mode 100644
index 0000000..b18cf9d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/RequestServiceInfo.h
@@ -0,0 +1,138 @@
+#ifndef _ROS_SERVICE_RequestServiceInfo_h
+#define _ROS_SERVICE_RequestServiceInfo_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_msgs
+{
+
+static const char REQUESTSERVICEINFO[] = "rosserial_msgs/RequestServiceInfo";
+
+  class RequestServiceInfoRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _service_type;
+      _service_type service;
+
+    RequestServiceInfoRequest():
+      service("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_service = strlen(this->service);
+      varToArr(outbuffer + offset, length_service);
+      offset += 4;
+      memcpy(outbuffer + offset, this->service, length_service);
+      offset += length_service;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_service;
+      arrToVar(length_service, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_service; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_service-1]=0;
+      this->service = (char *)(inbuffer + offset-1);
+      offset += length_service;
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTSERVICEINFO; };
+    const char * getMD5(){ return "1cbcfa13b08f6d36710b9af8741e6112"; };
+
+  };
+
+  class RequestServiceInfoResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _service_md5_type;
+      _service_md5_type service_md5;
+      typedef const char* _request_md5_type;
+      _request_md5_type request_md5;
+      typedef const char* _response_md5_type;
+      _response_md5_type response_md5;
+
+    RequestServiceInfoResponse():
+      service_md5(""),
+      request_md5(""),
+      response_md5("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_service_md5 = strlen(this->service_md5);
+      varToArr(outbuffer + offset, length_service_md5);
+      offset += 4;
+      memcpy(outbuffer + offset, this->service_md5, length_service_md5);
+      offset += length_service_md5;
+      uint32_t length_request_md5 = strlen(this->request_md5);
+      varToArr(outbuffer + offset, length_request_md5);
+      offset += 4;
+      memcpy(outbuffer + offset, this->request_md5, length_request_md5);
+      offset += length_request_md5;
+      uint32_t length_response_md5 = strlen(this->response_md5);
+      varToArr(outbuffer + offset, length_response_md5);
+      offset += 4;
+      memcpy(outbuffer + offset, this->response_md5, length_response_md5);
+      offset += length_response_md5;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_service_md5;
+      arrToVar(length_service_md5, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_service_md5; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_service_md5-1]=0;
+      this->service_md5 = (char *)(inbuffer + offset-1);
+      offset += length_service_md5;
+      uint32_t length_request_md5;
+      arrToVar(length_request_md5, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_request_md5; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_request_md5-1]=0;
+      this->request_md5 = (char *)(inbuffer + offset-1);
+      offset += length_request_md5;
+      uint32_t length_response_md5;
+      arrToVar(length_response_md5, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_response_md5; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_response_md5-1]=0;
+      this->response_md5 = (char *)(inbuffer + offset-1);
+      offset += length_response_md5;
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTSERVICEINFO; };
+    const char * getMD5(){ return "c3d6dd25b909596479fbbc6559fa6874"; };
+
+  };
+
+  class RequestServiceInfo {
+    public:
+    typedef RequestServiceInfoRequest Request;
+    typedef RequestServiceInfoResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/TopicInfo.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/TopicInfo.h
new file mode 100644
index 0000000..7c21f06
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/rosserial_msgs/TopicInfo.h
@@ -0,0 +1,130 @@
+#ifndef _ROS_rosserial_msgs_TopicInfo_h
+#define _ROS_rosserial_msgs_TopicInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_msgs
+{
+
+  class TopicInfo : public ros::Msg
+  {
+    public:
+      typedef uint16_t _topic_id_type;
+      _topic_id_type topic_id;
+      typedef const char* _topic_name_type;
+      _topic_name_type topic_name;
+      typedef const char* _message_type_type;
+      _message_type_type message_type;
+      typedef const char* _md5sum_type;
+      _md5sum_type md5sum;
+      typedef int32_t _buffer_size_type;
+      _buffer_size_type buffer_size;
+      enum { ID_PUBLISHER = 0 };
+      enum { ID_SUBSCRIBER = 1 };
+      enum { ID_SERVICE_SERVER = 2 };
+      enum { ID_SERVICE_CLIENT = 4 };
+      enum { ID_PARAMETER_REQUEST = 6 };
+      enum { ID_LOG = 7 };
+      enum { ID_TIME = 10 };
+      enum { ID_TX_STOP = 11 };
+
+    TopicInfo():
+      topic_id(0),
+      topic_name(""),
+      message_type(""),
+      md5sum(""),
+      buffer_size(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->topic_id);
+      uint32_t length_topic_name = strlen(this->topic_name);
+      varToArr(outbuffer + offset, length_topic_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic_name, length_topic_name);
+      offset += length_topic_name;
+      uint32_t length_message_type = strlen(this->message_type);
+      varToArr(outbuffer + offset, length_message_type);
+      offset += 4;
+      memcpy(outbuffer + offset, this->message_type, length_message_type);
+      offset += length_message_type;
+      uint32_t length_md5sum = strlen(this->md5sum);
+      varToArr(outbuffer + offset, length_md5sum);
+      offset += 4;
+      memcpy(outbuffer + offset, this->md5sum, length_md5sum);
+      offset += length_md5sum;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_buffer_size;
+      u_buffer_size.real = this->buffer_size;
+      *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->buffer_size);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->topic_id =  ((uint16_t) (*(inbuffer + offset)));
+      this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->topic_id);
+      uint32_t length_topic_name;
+      arrToVar(length_topic_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic_name-1]=0;
+      this->topic_name = (char *)(inbuffer + offset-1);
+      offset += length_topic_name;
+      uint32_t length_message_type;
+      arrToVar(length_message_type, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_message_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_message_type-1]=0;
+      this->message_type = (char *)(inbuffer + offset-1);
+      offset += length_message_type;
+      uint32_t length_md5sum;
+      arrToVar(length_md5sum, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_md5sum; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_md5sum-1]=0;
+      this->md5sum = (char *)(inbuffer + offset-1);
+      offset += length_md5sum;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_buffer_size;
+      u_buffer_size.base = 0;
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->buffer_size = u_buffer_size.real;
+      offset += sizeof(this->buffer_size);
+     return offset;
+    }
+
+    const char * getType(){ return "rosserial_msgs/TopicInfo"; };
+    const char * getMD5(){ return "0ad51f88fc44892f8c10684077646005"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/self_driving_turtlebot3/Lane.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/self_driving_turtlebot3/Lane.h
new file mode 100644
index 0000000..7eb31ce
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/self_driving_turtlebot3/Lane.h
@@ -0,0 +1,102 @@
+#ifndef _ROS_self_driving_turtlebot3_Lane_h
+#define _ROS_self_driving_turtlebot3_Lane_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace self_driving_turtlebot3
+{
+
+  class Lane : public ros::Msg
+  {
+    public:
+      typedef double _deviation_type;
+      _deviation_type deviation;
+      typedef double _curvature_type;
+      _curvature_type curvature;
+
+    Lane():
+      deviation(0),
+      curvature(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_deviation;
+      u_deviation.real = this->deviation;
+      *(outbuffer + offset + 0) = (u_deviation.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_deviation.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_deviation.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_deviation.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_deviation.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_deviation.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_deviation.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_deviation.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->deviation);
+      union {
+        double real;
+        uint64_t base;
+      } u_curvature;
+      u_curvature.real = this->curvature;
+      *(outbuffer + offset + 0) = (u_curvature.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_curvature.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_curvature.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_curvature.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_curvature.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_curvature.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_curvature.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_curvature.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->curvature);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_deviation;
+      u_deviation.base = 0;
+      u_deviation.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_deviation.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_deviation.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_deviation.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_deviation.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_deviation.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_deviation.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_deviation.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->deviation = u_deviation.real;
+      offset += sizeof(this->deviation);
+      union {
+        double real;
+        uint64_t base;
+      } u_curvature;
+      u_curvature.base = 0;
+      u_curvature.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_curvature.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_curvature.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_curvature.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_curvature.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_curvature.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_curvature.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_curvature.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->curvature = u_curvature.real;
+      offset += sizeof(this->curvature);
+     return offset;
+    }
+
+    const char * getType(){ return "self_driving_turtlebot3/Lane"; };
+    const char * getMD5(){ return "fdb4f5e87af4017fdf6cd402caba9344"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/self_driving_turtlebot3/WhichLane.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/self_driving_turtlebot3/WhichLane.h
new file mode 100644
index 0000000..0bf578b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/self_driving_turtlebot3/WhichLane.h
@@ -0,0 +1,74 @@
+#ifndef _ROS_self_driving_turtlebot3_WhichLane_h
+#define _ROS_self_driving_turtlebot3_WhichLane_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace self_driving_turtlebot3
+{
+
+  class WhichLane : public ros::Msg
+  {
+    public:
+      typedef bool _right_type;
+      _right_type right;
+      typedef bool _left_type;
+      _left_type left;
+
+    WhichLane():
+      right(0),
+      left(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_right;
+      u_right.real = this->right;
+      *(outbuffer + offset + 0) = (u_right.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->right);
+      union {
+        bool real;
+        uint8_t base;
+      } u_left;
+      u_left.real = this->left;
+      *(outbuffer + offset + 0) = (u_left.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->left);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_right;
+      u_right.base = 0;
+      u_right.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->right = u_right.real;
+      offset += sizeof(this->right);
+      union {
+        bool real;
+        uint8_t base;
+      } u_left;
+      u_left.base = 0;
+      u_left.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->left = u_left.real;
+      offset += sizeof(this->left);
+     return offset;
+    }
+
+    const char * getType(){ return "self_driving_turtlebot3/WhichLane"; };
+    const char * getMD5(){ return "fec513e236dcf00a82feccdb516092e3"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/BatteryState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/BatteryState.h
new file mode 100644
index 0000000..4e9cba4
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/BatteryState.h
@@ -0,0 +1,326 @@
+#ifndef _ROS_sensor_msgs_BatteryState_h
+#define _ROS_sensor_msgs_BatteryState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class BatteryState : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef float _voltage_type;
+      _voltage_type voltage;
+      typedef float _current_type;
+      _current_type current;
+      typedef float _charge_type;
+      _charge_type charge;
+      typedef float _capacity_type;
+      _capacity_type capacity;
+      typedef float _design_capacity_type;
+      _design_capacity_type design_capacity;
+      typedef float _percentage_type;
+      _percentage_type percentage;
+      typedef uint8_t _power_supply_status_type;
+      _power_supply_status_type power_supply_status;
+      typedef uint8_t _power_supply_health_type;
+      _power_supply_health_type power_supply_health;
+      typedef uint8_t _power_supply_technology_type;
+      _power_supply_technology_type power_supply_technology;
+      typedef bool _present_type;
+      _present_type present;
+      uint32_t cell_voltage_length;
+      typedef float _cell_voltage_type;
+      _cell_voltage_type st_cell_voltage;
+      _cell_voltage_type * cell_voltage;
+      typedef const char* _location_type;
+      _location_type location;
+      typedef const char* _serial_number_type;
+      _serial_number_type serial_number;
+      enum { POWER_SUPPLY_STATUS_UNKNOWN =  0 };
+      enum { POWER_SUPPLY_STATUS_CHARGING =  1 };
+      enum { POWER_SUPPLY_STATUS_DISCHARGING =  2 };
+      enum { POWER_SUPPLY_STATUS_NOT_CHARGING =  3 };
+      enum { POWER_SUPPLY_STATUS_FULL =  4 };
+      enum { POWER_SUPPLY_HEALTH_UNKNOWN =  0 };
+      enum { POWER_SUPPLY_HEALTH_GOOD =  1 };
+      enum { POWER_SUPPLY_HEALTH_OVERHEAT =  2 };
+      enum { POWER_SUPPLY_HEALTH_DEAD =  3 };
+      enum { POWER_SUPPLY_HEALTH_OVERVOLTAGE =  4 };
+      enum { POWER_SUPPLY_HEALTH_UNSPEC_FAILURE =  5 };
+      enum { POWER_SUPPLY_HEALTH_COLD =  6 };
+      enum { POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE =  7 };
+      enum { POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE =  8 };
+      enum { POWER_SUPPLY_TECHNOLOGY_UNKNOWN =  0 };
+      enum { POWER_SUPPLY_TECHNOLOGY_NIMH =  1 };
+      enum { POWER_SUPPLY_TECHNOLOGY_LION =  2 };
+      enum { POWER_SUPPLY_TECHNOLOGY_LIPO =  3 };
+      enum { POWER_SUPPLY_TECHNOLOGY_LIFE =  4 };
+      enum { POWER_SUPPLY_TECHNOLOGY_NICD =  5 };
+      enum { POWER_SUPPLY_TECHNOLOGY_LIMN =  6 };
+
+    BatteryState():
+      header(),
+      voltage(0),
+      current(0),
+      charge(0),
+      capacity(0),
+      design_capacity(0),
+      percentage(0),
+      power_supply_status(0),
+      power_supply_health(0),
+      power_supply_technology(0),
+      present(0),
+      cell_voltage_length(0), cell_voltage(NULL),
+      location(""),
+      serial_number("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_voltage;
+      u_voltage.real = this->voltage;
+      *(outbuffer + offset + 0) = (u_voltage.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_voltage.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_voltage.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_voltage.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->voltage);
+      union {
+        float real;
+        uint32_t base;
+      } u_current;
+      u_current.real = this->current;
+      *(outbuffer + offset + 0) = (u_current.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_current.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_current.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_current.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->current);
+      union {
+        float real;
+        uint32_t base;
+      } u_charge;
+      u_charge.real = this->charge;
+      *(outbuffer + offset + 0) = (u_charge.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_charge.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_charge.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_charge.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->charge);
+      union {
+        float real;
+        uint32_t base;
+      } u_capacity;
+      u_capacity.real = this->capacity;
+      *(outbuffer + offset + 0) = (u_capacity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_capacity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_capacity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_capacity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->capacity);
+      union {
+        float real;
+        uint32_t base;
+      } u_design_capacity;
+      u_design_capacity.real = this->design_capacity;
+      *(outbuffer + offset + 0) = (u_design_capacity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_design_capacity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_design_capacity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_design_capacity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->design_capacity);
+      union {
+        float real;
+        uint32_t base;
+      } u_percentage;
+      u_percentage.real = this->percentage;
+      *(outbuffer + offset + 0) = (u_percentage.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_percentage.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_percentage.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_percentage.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->percentage);
+      *(outbuffer + offset + 0) = (this->power_supply_status >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->power_supply_status);
+      *(outbuffer + offset + 0) = (this->power_supply_health >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->power_supply_health);
+      *(outbuffer + offset + 0) = (this->power_supply_technology >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->power_supply_technology);
+      union {
+        bool real;
+        uint8_t base;
+      } u_present;
+      u_present.real = this->present;
+      *(outbuffer + offset + 0) = (u_present.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->present);
+      *(outbuffer + offset + 0) = (this->cell_voltage_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->cell_voltage_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->cell_voltage_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->cell_voltage_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cell_voltage_length);
+      for( uint32_t i = 0; i < cell_voltage_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_cell_voltagei;
+      u_cell_voltagei.real = this->cell_voltage[i];
+      *(outbuffer + offset + 0) = (u_cell_voltagei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cell_voltagei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cell_voltagei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cell_voltagei.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cell_voltage[i]);
+      }
+      uint32_t length_location = strlen(this->location);
+      varToArr(outbuffer + offset, length_location);
+      offset += 4;
+      memcpy(outbuffer + offset, this->location, length_location);
+      offset += length_location;
+      uint32_t length_serial_number = strlen(this->serial_number);
+      varToArr(outbuffer + offset, length_serial_number);
+      offset += 4;
+      memcpy(outbuffer + offset, this->serial_number, length_serial_number);
+      offset += length_serial_number;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_voltage;
+      u_voltage.base = 0;
+      u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_voltage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->voltage = u_voltage.real;
+      offset += sizeof(this->voltage);
+      union {
+        float real;
+        uint32_t base;
+      } u_current;
+      u_current.base = 0;
+      u_current.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_current.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_current.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_current.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->current = u_current.real;
+      offset += sizeof(this->current);
+      union {
+        float real;
+        uint32_t base;
+      } u_charge;
+      u_charge.base = 0;
+      u_charge.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_charge.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_charge.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_charge.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->charge = u_charge.real;
+      offset += sizeof(this->charge);
+      union {
+        float real;
+        uint32_t base;
+      } u_capacity;
+      u_capacity.base = 0;
+      u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_capacity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->capacity = u_capacity.real;
+      offset += sizeof(this->capacity);
+      union {
+        float real;
+        uint32_t base;
+      } u_design_capacity;
+      u_design_capacity.base = 0;
+      u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_design_capacity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->design_capacity = u_design_capacity.real;
+      offset += sizeof(this->design_capacity);
+      union {
+        float real;
+        uint32_t base;
+      } u_percentage;
+      u_percentage.base = 0;
+      u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_percentage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->percentage = u_percentage.real;
+      offset += sizeof(this->percentage);
+      this->power_supply_status =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->power_supply_status);
+      this->power_supply_health =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->power_supply_health);
+      this->power_supply_technology =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->power_supply_technology);
+      union {
+        bool real;
+        uint8_t base;
+      } u_present;
+      u_present.base = 0;
+      u_present.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->present = u_present.real;
+      offset += sizeof(this->present);
+      uint32_t cell_voltage_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      cell_voltage_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->cell_voltage_length);
+      if(cell_voltage_lengthT > cell_voltage_length)
+        this->cell_voltage = (float*)realloc(this->cell_voltage, cell_voltage_lengthT * sizeof(float));
+      cell_voltage_length = cell_voltage_lengthT;
+      for( uint32_t i = 0; i < cell_voltage_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_cell_voltage;
+      u_st_cell_voltage.base = 0;
+      u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_cell_voltage.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_cell_voltage = u_st_cell_voltage.real;
+      offset += sizeof(this->st_cell_voltage);
+        memcpy( &(this->cell_voltage[i]), &(this->st_cell_voltage), sizeof(float));
+      }
+      uint32_t length_location;
+      arrToVar(length_location, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_location; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_location-1]=0;
+      this->location = (char *)(inbuffer + offset-1);
+      offset += length_location;
+      uint32_t length_serial_number;
+      arrToVar(length_serial_number, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_serial_number; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_serial_number-1]=0;
+      this->serial_number = (char *)(inbuffer + offset-1);
+      offset += length_serial_number;
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/BatteryState"; };
+    const char * getMD5(){ return "476f837fa6771f6e16e3bf4ef96f8770"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/CameraInfo.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/CameraInfo.h
new file mode 100644
index 0000000..5bd1c7d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/CameraInfo.h
@@ -0,0 +1,276 @@
+#ifndef _ROS_sensor_msgs_CameraInfo_h
+#define _ROS_sensor_msgs_CameraInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/RegionOfInterest.h"
+
+namespace sensor_msgs
+{
+
+  class CameraInfo : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef uint32_t _height_type;
+      _height_type height;
+      typedef uint32_t _width_type;
+      _width_type width;
+      typedef const char* _distortion_model_type;
+      _distortion_model_type distortion_model;
+      uint32_t D_length;
+      typedef double _D_type;
+      _D_type st_D;
+      _D_type * D;
+      double K[9];
+      double R[9];
+      double P[12];
+      typedef uint32_t _binning_x_type;
+      _binning_x_type binning_x;
+      typedef uint32_t _binning_y_type;
+      _binning_y_type binning_y;
+      typedef sensor_msgs::RegionOfInterest _roi_type;
+      _roi_type roi;
+
+    CameraInfo():
+      header(),
+      height(0),
+      width(0),
+      distortion_model(""),
+      D_length(0), D(NULL),
+      K(),
+      R(),
+      P(),
+      binning_x(0),
+      binning_y(0),
+      roi()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      uint32_t length_distortion_model = strlen(this->distortion_model);
+      varToArr(outbuffer + offset, length_distortion_model);
+      offset += 4;
+      memcpy(outbuffer + offset, this->distortion_model, length_distortion_model);
+      offset += length_distortion_model;
+      *(outbuffer + offset + 0) = (this->D_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->D_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->D_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->D_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->D_length);
+      for( uint32_t i = 0; i < D_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Di;
+      u_Di.real = this->D[i];
+      *(outbuffer + offset + 0) = (u_Di.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Di.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Di.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Di.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Di.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Di.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Di.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Di.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->D[i]);
+      }
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ki;
+      u_Ki.real = this->K[i];
+      *(outbuffer + offset + 0) = (u_Ki.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Ki.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Ki.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Ki.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Ki.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Ki.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Ki.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Ki.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->K[i]);
+      }
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ri;
+      u_Ri.real = this->R[i];
+      *(outbuffer + offset + 0) = (u_Ri.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Ri.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Ri.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Ri.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Ri.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Ri.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Ri.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Ri.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->R[i]);
+      }
+      for( uint32_t i = 0; i < 12; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Pi;
+      u_Pi.real = this->P[i];
+      *(outbuffer + offset + 0) = (u_Pi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Pi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Pi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Pi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Pi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Pi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Pi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Pi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->P[i]);
+      }
+      *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_x);
+      *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_y);
+      offset += this->roi.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      uint32_t length_distortion_model;
+      arrToVar(length_distortion_model, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_distortion_model; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_distortion_model-1]=0;
+      this->distortion_model = (char *)(inbuffer + offset-1);
+      offset += length_distortion_model;
+      uint32_t D_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      D_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      D_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      D_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->D_length);
+      if(D_lengthT > D_length)
+        this->D = (double*)realloc(this->D, D_lengthT * sizeof(double));
+      D_length = D_lengthT;
+      for( uint32_t i = 0; i < D_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_D;
+      u_st_D.base = 0;
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_D = u_st_D.real;
+      offset += sizeof(this->st_D);
+        memcpy( &(this->D[i]), &(this->st_D), sizeof(double));
+      }
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ki;
+      u_Ki.base = 0;
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->K[i] = u_Ki.real;
+      offset += sizeof(this->K[i]);
+      }
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ri;
+      u_Ri.base = 0;
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->R[i] = u_Ri.real;
+      offset += sizeof(this->R[i]);
+      }
+      for( uint32_t i = 0; i < 12; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Pi;
+      u_Pi.base = 0;
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->P[i] = u_Pi.real;
+      offset += sizeof(this->P[i]);
+      }
+      this->binning_x =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_x);
+      this->binning_y =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_y);
+      offset += this->roi.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/CameraInfo"; };
+    const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/ChannelFloat32.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/ChannelFloat32.h
new file mode 100644
index 0000000..c5c433d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/ChannelFloat32.h
@@ -0,0 +1,99 @@
+#ifndef _ROS_sensor_msgs_ChannelFloat32_h
+#define _ROS_sensor_msgs_ChannelFloat32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class ChannelFloat32 : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      uint32_t values_length;
+      typedef float _values_type;
+      _values_type st_values;
+      _values_type * values;
+
+    ChannelFloat32():
+      name(""),
+      values_length(0), values(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->values_length);
+      for( uint32_t i = 0; i < values_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_valuesi;
+      u_valuesi.real = this->values[i];
+      *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->values[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->values_length);
+      if(values_lengthT > values_length)
+        this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
+      values_length = values_lengthT;
+      for( uint32_t i = 0; i < values_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_values;
+      u_st_values.base = 0;
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_values = u_st_values.real;
+      offset += sizeof(this->st_values);
+        memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
+    const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/CompressedImage.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/CompressedImage.h
new file mode 100644
index 0000000..a11f62c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/CompressedImage.h
@@ -0,0 +1,88 @@
+#ifndef _ROS_sensor_msgs_CompressedImage_h
+#define _ROS_sensor_msgs_CompressedImage_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class CompressedImage : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _format_type;
+      _format_type format;
+      uint32_t data_length;
+      typedef uint8_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    CompressedImage():
+      header(),
+      format(""),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_format = strlen(this->format);
+      varToArr(outbuffer + offset, length_format);
+      offset += 4;
+      memcpy(outbuffer + offset, this->format, length_format);
+      offset += length_format;
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_format;
+      arrToVar(length_format, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_format; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_format-1]=0;
+      this->format = (char *)(inbuffer + offset-1);
+      offset += length_format;
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/CompressedImage"; };
+    const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/FluidPressure.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/FluidPressure.h
new file mode 100644
index 0000000..3df5165
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/FluidPressure.h
@@ -0,0 +1,108 @@
+#ifndef _ROS_sensor_msgs_FluidPressure_h
+#define _ROS_sensor_msgs_FluidPressure_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class FluidPressure : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef double _fluid_pressure_type;
+      _fluid_pressure_type fluid_pressure;
+      typedef double _variance_type;
+      _variance_type variance;
+
+    FluidPressure():
+      header(),
+      fluid_pressure(0),
+      variance(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_fluid_pressure;
+      u_fluid_pressure.real = this->fluid_pressure;
+      *(outbuffer + offset + 0) = (u_fluid_pressure.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_fluid_pressure.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_fluid_pressure.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_fluid_pressure.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_fluid_pressure.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_fluid_pressure.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_fluid_pressure.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_fluid_pressure.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->fluid_pressure);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.real = this->variance;
+      *(outbuffer + offset + 0) = (u_variance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_variance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_variance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_variance.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_variance.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_variance.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_variance.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_variance.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->variance);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_fluid_pressure;
+      u_fluid_pressure.base = 0;
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->fluid_pressure = u_fluid_pressure.real;
+      offset += sizeof(this->fluid_pressure);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.base = 0;
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->variance = u_variance.real;
+      offset += sizeof(this->variance);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/FluidPressure"; };
+    const char * getMD5(){ return "804dc5cea1c5306d6a2eb80b9833befe"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Illuminance.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Illuminance.h
new file mode 100644
index 0000000..d6fbb2c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Illuminance.h
@@ -0,0 +1,108 @@
+#ifndef _ROS_sensor_msgs_Illuminance_h
+#define _ROS_sensor_msgs_Illuminance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Illuminance : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef double _illuminance_type;
+      _illuminance_type illuminance;
+      typedef double _variance_type;
+      _variance_type variance;
+
+    Illuminance():
+      header(),
+      illuminance(0),
+      variance(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_illuminance;
+      u_illuminance.real = this->illuminance;
+      *(outbuffer + offset + 0) = (u_illuminance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_illuminance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_illuminance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_illuminance.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_illuminance.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_illuminance.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_illuminance.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_illuminance.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->illuminance);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.real = this->variance;
+      *(outbuffer + offset + 0) = (u_variance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_variance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_variance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_variance.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_variance.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_variance.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_variance.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_variance.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->variance);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_illuminance;
+      u_illuminance.base = 0;
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->illuminance = u_illuminance.real;
+      offset += sizeof(this->illuminance);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.base = 0;
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->variance = u_variance.real;
+      offset += sizeof(this->variance);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Illuminance"; };
+    const char * getMD5(){ return "8cf5febb0952fca9d650c3d11a81a188"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Image.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Image.h
new file mode 100644
index 0000000..15842a3
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Image.h
@@ -0,0 +1,134 @@
+#ifndef _ROS_sensor_msgs_Image_h
+#define _ROS_sensor_msgs_Image_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Image : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef uint32_t _height_type;
+      _height_type height;
+      typedef uint32_t _width_type;
+      _width_type width;
+      typedef const char* _encoding_type;
+      _encoding_type encoding;
+      typedef uint8_t _is_bigendian_type;
+      _is_bigendian_type is_bigendian;
+      typedef uint32_t _step_type;
+      _step_type step;
+      uint32_t data_length;
+      typedef uint8_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    Image():
+      header(),
+      height(0),
+      width(0),
+      encoding(""),
+      is_bigendian(0),
+      step(0),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      uint32_t length_encoding = strlen(this->encoding);
+      varToArr(outbuffer + offset, length_encoding);
+      offset += 4;
+      memcpy(outbuffer + offset, this->encoding, length_encoding);
+      offset += length_encoding;
+      *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_bigendian);
+      *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->step);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      uint32_t length_encoding;
+      arrToVar(length_encoding, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_encoding; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_encoding-1]=0;
+      this->encoding = (char *)(inbuffer + offset-1);
+      offset += length_encoding;
+      this->is_bigendian =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->is_bigendian);
+      this->step =  ((uint32_t) (*(inbuffer + offset)));
+      this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->step);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Image"; };
+    const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Imu.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Imu.h
new file mode 100644
index 0000000..8b0ee96
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Imu.h
@@ -0,0 +1,166 @@
+#ifndef _ROS_sensor_msgs_Imu_h
+#define _ROS_sensor_msgs_Imu_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Quaternion.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace sensor_msgs
+{
+
+  class Imu : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Quaternion _orientation_type;
+      _orientation_type orientation;
+      double orientation_covariance[9];
+      typedef geometry_msgs::Vector3 _angular_velocity_type;
+      _angular_velocity_type angular_velocity;
+      double angular_velocity_covariance[9];
+      typedef geometry_msgs::Vector3 _linear_acceleration_type;
+      _linear_acceleration_type linear_acceleration;
+      double linear_acceleration_covariance[9];
+
+    Imu():
+      header(),
+      orientation(),
+      orientation_covariance(),
+      angular_velocity(),
+      angular_velocity_covariance(),
+      linear_acceleration(),
+      linear_acceleration_covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->orientation.serialize(outbuffer + offset);
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_orientation_covariancei;
+      u_orientation_covariancei.real = this->orientation_covariance[i];
+      *(outbuffer + offset + 0) = (u_orientation_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_orientation_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_orientation_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_orientation_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_orientation_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_orientation_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_orientation_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_orientation_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->orientation_covariance[i]);
+      }
+      offset += this->angular_velocity.serialize(outbuffer + offset);
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_angular_velocity_covariancei;
+      u_angular_velocity_covariancei.real = this->angular_velocity_covariance[i];
+      *(outbuffer + offset + 0) = (u_angular_velocity_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angular_velocity_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angular_velocity_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angular_velocity_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_angular_velocity_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_angular_velocity_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_angular_velocity_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_angular_velocity_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->angular_velocity_covariance[i]);
+      }
+      offset += this->linear_acceleration.serialize(outbuffer + offset);
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_linear_acceleration_covariancei;
+      u_linear_acceleration_covariancei.real = this->linear_acceleration_covariance[i];
+      *(outbuffer + offset + 0) = (u_linear_acceleration_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_linear_acceleration_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_linear_acceleration_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_linear_acceleration_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_linear_acceleration_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_linear_acceleration_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_linear_acceleration_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_linear_acceleration_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->linear_acceleration_covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->orientation.deserialize(inbuffer + offset);
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_orientation_covariancei;
+      u_orientation_covariancei.base = 0;
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->orientation_covariance[i] = u_orientation_covariancei.real;
+      offset += sizeof(this->orientation_covariance[i]);
+      }
+      offset += this->angular_velocity.deserialize(inbuffer + offset);
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_angular_velocity_covariancei;
+      u_angular_velocity_covariancei.base = 0;
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->angular_velocity_covariance[i] = u_angular_velocity_covariancei.real;
+      offset += sizeof(this->angular_velocity_covariance[i]);
+      }
+      offset += this->linear_acceleration.deserialize(inbuffer + offset);
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_linear_acceleration_covariancei;
+      u_linear_acceleration_covariancei.base = 0;
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->linear_acceleration_covariance[i] = u_linear_acceleration_covariancei.real;
+      offset += sizeof(this->linear_acceleration_covariance[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Imu"; };
+    const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/JointState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/JointState.h
new file mode 100644
index 0000000..4cf6110
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/JointState.h
@@ -0,0 +1,237 @@
+#ifndef _ROS_sensor_msgs_JointState_h
+#define _ROS_sensor_msgs_JointState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class JointState : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t name_length;
+      typedef char* _name_type;
+      _name_type st_name;
+      _name_type * name;
+      uint32_t position_length;
+      typedef double _position_type;
+      _position_type st_position;
+      _position_type * position;
+      uint32_t velocity_length;
+      typedef double _velocity_type;
+      _velocity_type st_velocity;
+      _velocity_type * velocity;
+      uint32_t effort_length;
+      typedef double _effort_type;
+      _effort_type st_effort;
+      _effort_type * effort;
+
+    JointState():
+      header(),
+      name_length(0), name(NULL),
+      position_length(0), position(NULL),
+      velocity_length(0), velocity(NULL),
+      effort_length(0), effort(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->name_length);
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      varToArr(outbuffer + offset, length_namei);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->position_length);
+      for( uint32_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positioni;
+      u_positioni.real = this->position[i];
+      *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position[i]);
+      }
+      *(outbuffer + offset + 0) = (this->velocity_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->velocity_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->velocity_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->velocity_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->velocity_length);
+      for( uint32_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_velocityi;
+      u_velocityi.real = this->velocity[i];
+      *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocity[i]);
+      }
+      *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->effort_length);
+      for( uint32_t i = 0; i < effort_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_efforti;
+      u_efforti.real = this->effort[i];
+      *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->effort[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->name_length);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      name_length = name_lengthT;
+      for( uint32_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      arrToVar(length_st_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->position_length);
+      if(position_lengthT > position_length)
+        this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+      position_length = position_lengthT;
+      for( uint32_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_position;
+      u_st_position.base = 0;
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_position = u_st_position.real;
+      offset += sizeof(this->st_position);
+        memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+      }
+      uint32_t velocity_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->velocity_length);
+      if(velocity_lengthT > velocity_length)
+        this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
+      velocity_length = velocity_lengthT;
+      for( uint32_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_velocity;
+      u_st_velocity.base = 0;
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_velocity = u_st_velocity.real;
+      offset += sizeof(this->st_velocity);
+        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
+      }
+      uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->effort_length);
+      if(effort_lengthT > effort_length)
+        this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
+      effort_length = effort_lengthT;
+      for( uint32_t i = 0; i < effort_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_effort;
+      u_st_effort.base = 0;
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_effort = u_st_effort.real;
+      offset += sizeof(this->st_effort);
+        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/JointState"; };
+    const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Joy.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Joy.h
new file mode 100644
index 0000000..bd56d41
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Joy.h
@@ -0,0 +1,132 @@
+#ifndef _ROS_sensor_msgs_Joy_h
+#define _ROS_sensor_msgs_Joy_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Joy : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t axes_length;
+      typedef float _axes_type;
+      _axes_type st_axes;
+      _axes_type * axes;
+      uint32_t buttons_length;
+      typedef int32_t _buttons_type;
+      _buttons_type st_buttons;
+      _buttons_type * buttons;
+
+    Joy():
+      header(),
+      axes_length(0), axes(NULL),
+      buttons_length(0), buttons(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->axes_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->axes_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->axes_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->axes_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->axes_length);
+      for( uint32_t i = 0; i < axes_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_axesi;
+      u_axesi.real = this->axes[i];
+      *(outbuffer + offset + 0) = (u_axesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_axesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_axesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_axesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->axes[i]);
+      }
+      *(outbuffer + offset + 0) = (this->buttons_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->buttons_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->buttons_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->buttons_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->buttons_length);
+      for( uint32_t i = 0; i < buttons_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_buttonsi;
+      u_buttonsi.real = this->buttons[i];
+      *(outbuffer + offset + 0) = (u_buttonsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_buttonsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_buttonsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_buttonsi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->buttons[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t axes_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->axes_length);
+      if(axes_lengthT > axes_length)
+        this->axes = (float*)realloc(this->axes, axes_lengthT * sizeof(float));
+      axes_length = axes_lengthT;
+      for( uint32_t i = 0; i < axes_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_axes;
+      u_st_axes.base = 0;
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_axes = u_st_axes.real;
+      offset += sizeof(this->st_axes);
+        memcpy( &(this->axes[i]), &(this->st_axes), sizeof(float));
+      }
+      uint32_t buttons_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->buttons_length);
+      if(buttons_lengthT > buttons_length)
+        this->buttons = (int32_t*)realloc(this->buttons, buttons_lengthT * sizeof(int32_t));
+      buttons_length = buttons_lengthT;
+      for( uint32_t i = 0; i < buttons_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_buttons;
+      u_st_buttons.base = 0;
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_buttons = u_st_buttons.real;
+      offset += sizeof(this->st_buttons);
+        memcpy( &(this->buttons[i]), &(this->st_buttons), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Joy"; };
+    const char * getMD5(){ return "5a9ea5f83505693b71e785041e67a8bb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/JoyFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/JoyFeedback.h
new file mode 100644
index 0000000..7a12993
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/JoyFeedback.h
@@ -0,0 +1,79 @@
+#ifndef _ROS_sensor_msgs_JoyFeedback_h
+#define _ROS_sensor_msgs_JoyFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class JoyFeedback : public ros::Msg
+  {
+    public:
+      typedef uint8_t _type_type;
+      _type_type type;
+      typedef uint8_t _id_type;
+      _id_type id;
+      typedef float _intensity_type;
+      _intensity_type intensity;
+      enum { TYPE_LED =  0 };
+      enum { TYPE_RUMBLE =  1 };
+      enum { TYPE_BUZZER =  2 };
+
+    JoyFeedback():
+      type(0),
+      id(0),
+      intensity(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->type);
+      *(outbuffer + offset + 0) = (this->id >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->id);
+      union {
+        float real;
+        uint32_t base;
+      } u_intensity;
+      u_intensity.real = this->intensity;
+      *(outbuffer + offset + 0) = (u_intensity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_intensity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_intensity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_intensity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->intensity);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->type);
+      this->id =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->id);
+      union {
+        float real;
+        uint32_t base;
+      } u_intensity;
+      u_intensity.base = 0;
+      u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->intensity = u_intensity.real;
+      offset += sizeof(this->intensity);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/JoyFeedback"; };
+    const char * getMD5(){ return "f4dcd73460360d98f36e55ee7f2e46f1"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/JoyFeedbackArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/JoyFeedbackArray.h
new file mode 100644
index 0000000..8fe8064
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/JoyFeedbackArray.h
@@ -0,0 +1,64 @@
+#ifndef _ROS_sensor_msgs_JoyFeedbackArray_h
+#define _ROS_sensor_msgs_JoyFeedbackArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/JoyFeedback.h"
+
+namespace sensor_msgs
+{
+
+  class JoyFeedbackArray : public ros::Msg
+  {
+    public:
+      uint32_t array_length;
+      typedef sensor_msgs::JoyFeedback _array_type;
+      _array_type st_array;
+      _array_type * array;
+
+    JoyFeedbackArray():
+      array_length(0), array(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->array_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->array_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->array_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->array_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->array_length);
+      for( uint32_t i = 0; i < array_length; i++){
+      offset += this->array[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t array_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      array_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      array_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      array_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->array_length);
+      if(array_lengthT > array_length)
+        this->array = (sensor_msgs::JoyFeedback*)realloc(this->array, array_lengthT * sizeof(sensor_msgs::JoyFeedback));
+      array_length = array_lengthT;
+      for( uint32_t i = 0; i < array_length; i++){
+      offset += this->st_array.deserialize(inbuffer + offset);
+        memcpy( &(this->array[i]), &(this->st_array), sizeof(sensor_msgs::JoyFeedback));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/JoyFeedbackArray"; };
+    const char * getMD5(){ return "cde5730a895b1fc4dee6f91b754b213d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/LaserEcho.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/LaserEcho.h
new file mode 100644
index 0000000..b8f4c49
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/LaserEcho.h
@@ -0,0 +1,82 @@
+#ifndef _ROS_sensor_msgs_LaserEcho_h
+#define _ROS_sensor_msgs_LaserEcho_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class LaserEcho : public ros::Msg
+  {
+    public:
+      uint32_t echoes_length;
+      typedef float _echoes_type;
+      _echoes_type st_echoes;
+      _echoes_type * echoes;
+
+    LaserEcho():
+      echoes_length(0), echoes(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->echoes_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->echoes_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->echoes_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->echoes_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->echoes_length);
+      for( uint32_t i = 0; i < echoes_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_echoesi;
+      u_echoesi.real = this->echoes[i];
+      *(outbuffer + offset + 0) = (u_echoesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_echoesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_echoesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_echoesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->echoes[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t echoes_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      echoes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->echoes_length);
+      if(echoes_lengthT > echoes_length)
+        this->echoes = (float*)realloc(this->echoes, echoes_lengthT * sizeof(float));
+      echoes_length = echoes_lengthT;
+      for( uint32_t i = 0; i < echoes_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_echoes;
+      u_st_echoes.base = 0;
+      u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_echoes = u_st_echoes.real;
+      offset += sizeof(this->st_echoes);
+        memcpy( &(this->echoes[i]), &(this->st_echoes), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/LaserEcho"; };
+    const char * getMD5(){ return "8bc5ae449b200fba4d552b4225586696"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/LaserScan.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/LaserScan.h
new file mode 100644
index 0000000..abdea44
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/LaserScan.h
@@ -0,0 +1,300 @@
+#ifndef _ROS_sensor_msgs_LaserScan_h
+#define _ROS_sensor_msgs_LaserScan_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class LaserScan : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef float _angle_min_type;
+      _angle_min_type angle_min;
+      typedef float _angle_max_type;
+      _angle_max_type angle_max;
+      typedef float _angle_increment_type;
+      _angle_increment_type angle_increment;
+      typedef float _time_increment_type;
+      _time_increment_type time_increment;
+      typedef float _scan_time_type;
+      _scan_time_type scan_time;
+      typedef float _range_min_type;
+      _range_min_type range_min;
+      typedef float _range_max_type;
+      _range_max_type range_max;
+      uint32_t ranges_length;
+      typedef float _ranges_type;
+      _ranges_type st_ranges;
+      _ranges_type * ranges;
+      uint32_t intensities_length;
+      typedef float _intensities_type;
+      _intensities_type st_intensities;
+      _intensities_type * intensities;
+
+    LaserScan():
+      header(),
+      angle_min(0),
+      angle_max(0),
+      angle_increment(0),
+      time_increment(0),
+      scan_time(0),
+      range_min(0),
+      range_max(0),
+      ranges_length(0), ranges(NULL),
+      intensities_length(0), intensities(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.real = this->angle_min;
+      *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.real = this->angle_max;
+      *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.real = this->angle_increment;
+      *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.real = this->time_increment;
+      *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.real = this->scan_time;
+      *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.real = this->range_min;
+      *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.real = this->range_max;
+      *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_max);
+      *(outbuffer + offset + 0) = (this->ranges_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->ranges_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->ranges_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->ranges_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->ranges_length);
+      for( uint32_t i = 0; i < ranges_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_rangesi;
+      u_rangesi.real = this->ranges[i];
+      *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->ranges[i]);
+      }
+      *(outbuffer + offset + 0) = (this->intensities_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->intensities_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->intensities_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->intensities_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->intensities_length);
+      for( uint32_t i = 0; i < intensities_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_intensitiesi;
+      u_intensitiesi.real = this->intensities[i];
+      *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->intensities[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.base = 0;
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_min = u_angle_min.real;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.base = 0;
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_max = u_angle_max.real;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.base = 0;
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_increment = u_angle_increment.real;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.base = 0;
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->time_increment = u_time_increment.real;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.base = 0;
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->scan_time = u_scan_time.real;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.base = 0;
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_min = u_range_min.real;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.base = 0;
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_max = u_range_max.real;
+      offset += sizeof(this->range_max);
+      uint32_t ranges_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->ranges_length);
+      if(ranges_lengthT > ranges_length)
+        this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float));
+      ranges_length = ranges_lengthT;
+      for( uint32_t i = 0; i < ranges_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_ranges;
+      u_st_ranges.base = 0;
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_ranges = u_st_ranges.real;
+      offset += sizeof(this->st_ranges);
+        memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float));
+      }
+      uint32_t intensities_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->intensities_length);
+      if(intensities_lengthT > intensities_length)
+        this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float));
+      intensities_length = intensities_lengthT;
+      for( uint32_t i = 0; i < intensities_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_intensities;
+      u_st_intensities.base = 0;
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_intensities = u_st_intensities.real;
+      offset += sizeof(this->st_intensities);
+        memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/LaserScan"; };
+    const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/MagneticField.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/MagneticField.h
new file mode 100644
index 0000000..69a7344
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/MagneticField.h
@@ -0,0 +1,85 @@
+#ifndef _ROS_sensor_msgs_MagneticField_h
+#define _ROS_sensor_msgs_MagneticField_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace sensor_msgs
+{
+
+  class MagneticField : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Vector3 _magnetic_field_type;
+      _magnetic_field_type magnetic_field;
+      double magnetic_field_covariance[9];
+
+    MagneticField():
+      header(),
+      magnetic_field(),
+      magnetic_field_covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->magnetic_field.serialize(outbuffer + offset);
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_magnetic_field_covariancei;
+      u_magnetic_field_covariancei.real = this->magnetic_field_covariance[i];
+      *(outbuffer + offset + 0) = (u_magnetic_field_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_magnetic_field_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_magnetic_field_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_magnetic_field_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_magnetic_field_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_magnetic_field_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_magnetic_field_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_magnetic_field_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->magnetic_field_covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->magnetic_field.deserialize(inbuffer + offset);
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_magnetic_field_covariancei;
+      u_magnetic_field_covariancei.base = 0;
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->magnetic_field_covariance[i] = u_magnetic_field_covariancei.real;
+      offset += sizeof(this->magnetic_field_covariance[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/MagneticField"; };
+    const char * getMD5(){ return "2f3b0b43eed0c9501de0fa3ff89a45aa"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/MultiDOFJointState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/MultiDOFJointState.h
new file mode 100644
index 0000000..ed07797
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/MultiDOFJointState.h
@@ -0,0 +1,159 @@
+#ifndef _ROS_sensor_msgs_MultiDOFJointState_h
+#define _ROS_sensor_msgs_MultiDOFJointState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Transform.h"
+#include "geometry_msgs/Twist.h"
+#include "geometry_msgs/Wrench.h"
+
+namespace sensor_msgs
+{
+
+  class MultiDOFJointState : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t joint_names_length;
+      typedef char* _joint_names_type;
+      _joint_names_type st_joint_names;
+      _joint_names_type * joint_names;
+      uint32_t transforms_length;
+      typedef geometry_msgs::Transform _transforms_type;
+      _transforms_type st_transforms;
+      _transforms_type * transforms;
+      uint32_t twist_length;
+      typedef geometry_msgs::Twist _twist_type;
+      _twist_type st_twist;
+      _twist_type * twist;
+      uint32_t wrench_length;
+      typedef geometry_msgs::Wrench _wrench_type;
+      _wrench_type st_wrench;
+      _wrench_type * wrench;
+
+    MultiDOFJointState():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      transforms_length(0), transforms(NULL),
+      twist_length(0), twist(NULL),
+      wrench_length(0), wrench(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->joint_names_length);
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      varToArr(outbuffer + offset, length_joint_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->transforms_length);
+      for( uint32_t i = 0; i < transforms_length; i++){
+      offset += this->transforms[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->twist_length);
+      for( uint32_t i = 0; i < twist_length; i++){
+      offset += this->twist[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->wrench_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->wrench_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->wrench_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->wrench_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->wrench_length);
+      for( uint32_t i = 0; i < wrench_length; i++){
+      offset += this->wrench[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->joint_names_length);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      joint_names_length = joint_names_lengthT;
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      arrToVar(length_st_joint_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->transforms_length);
+      if(transforms_lengthT > transforms_length)
+        this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
+      transforms_length = transforms_lengthT;
+      for( uint32_t i = 0; i < transforms_length; i++){
+      offset += this->st_transforms.deserialize(inbuffer + offset);
+        memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
+      }
+      uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->twist_length);
+      if(twist_lengthT > twist_length)
+        this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
+      twist_length = twist_lengthT;
+      for( uint32_t i = 0; i < twist_length; i++){
+      offset += this->st_twist.deserialize(inbuffer + offset);
+        memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
+      }
+      uint32_t wrench_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->wrench_length);
+      if(wrench_lengthT > wrench_length)
+        this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench));
+      wrench_length = wrench_lengthT;
+      for( uint32_t i = 0; i < wrench_length; i++){
+      offset += this->st_wrench.deserialize(inbuffer + offset);
+        memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/MultiDOFJointState"; };
+    const char * getMD5(){ return "690f272f0640d2631c305eeb8301e59d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/MultiEchoLaserScan.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/MultiEchoLaserScan.h
new file mode 100644
index 0000000..35af2b2
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/MultiEchoLaserScan.h
@@ -0,0 +1,263 @@
+#ifndef _ROS_sensor_msgs_MultiEchoLaserScan_h
+#define _ROS_sensor_msgs_MultiEchoLaserScan_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/LaserEcho.h"
+
+namespace sensor_msgs
+{
+
+  class MultiEchoLaserScan : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef float _angle_min_type;
+      _angle_min_type angle_min;
+      typedef float _angle_max_type;
+      _angle_max_type angle_max;
+      typedef float _angle_increment_type;
+      _angle_increment_type angle_increment;
+      typedef float _time_increment_type;
+      _time_increment_type time_increment;
+      typedef float _scan_time_type;
+      _scan_time_type scan_time;
+      typedef float _range_min_type;
+      _range_min_type range_min;
+      typedef float _range_max_type;
+      _range_max_type range_max;
+      uint32_t ranges_length;
+      typedef sensor_msgs::LaserEcho _ranges_type;
+      _ranges_type st_ranges;
+      _ranges_type * ranges;
+      uint32_t intensities_length;
+      typedef sensor_msgs::LaserEcho _intensities_type;
+      _intensities_type st_intensities;
+      _intensities_type * intensities;
+
+    MultiEchoLaserScan():
+      header(),
+      angle_min(0),
+      angle_max(0),
+      angle_increment(0),
+      time_increment(0),
+      scan_time(0),
+      range_min(0),
+      range_max(0),
+      ranges_length(0), ranges(NULL),
+      intensities_length(0), intensities(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.real = this->angle_min;
+      *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.real = this->angle_max;
+      *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.real = this->angle_increment;
+      *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.real = this->time_increment;
+      *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.real = this->scan_time;
+      *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.real = this->range_min;
+      *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.real = this->range_max;
+      *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_max);
+      *(outbuffer + offset + 0) = (this->ranges_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->ranges_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->ranges_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->ranges_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->ranges_length);
+      for( uint32_t i = 0; i < ranges_length; i++){
+      offset += this->ranges[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->intensities_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->intensities_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->intensities_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->intensities_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->intensities_length);
+      for( uint32_t i = 0; i < intensities_length; i++){
+      offset += this->intensities[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.base = 0;
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_min = u_angle_min.real;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.base = 0;
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_max = u_angle_max.real;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.base = 0;
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_increment = u_angle_increment.real;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.base = 0;
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->time_increment = u_time_increment.real;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.base = 0;
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->scan_time = u_scan_time.real;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.base = 0;
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_min = u_range_min.real;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.base = 0;
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_max = u_range_max.real;
+      offset += sizeof(this->range_max);
+      uint32_t ranges_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->ranges_length);
+      if(ranges_lengthT > ranges_length)
+        this->ranges = (sensor_msgs::LaserEcho*)realloc(this->ranges, ranges_lengthT * sizeof(sensor_msgs::LaserEcho));
+      ranges_length = ranges_lengthT;
+      for( uint32_t i = 0; i < ranges_length; i++){
+      offset += this->st_ranges.deserialize(inbuffer + offset);
+        memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(sensor_msgs::LaserEcho));
+      }
+      uint32_t intensities_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->intensities_length);
+      if(intensities_lengthT > intensities_length)
+        this->intensities = (sensor_msgs::LaserEcho*)realloc(this->intensities, intensities_lengthT * sizeof(sensor_msgs::LaserEcho));
+      intensities_length = intensities_lengthT;
+      for( uint32_t i = 0; i < intensities_length; i++){
+      offset += this->st_intensities.deserialize(inbuffer + offset);
+        memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(sensor_msgs::LaserEcho));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/MultiEchoLaserScan"; };
+    const char * getMD5(){ return "6fefb0c6da89d7c8abe4b339f5c2f8fb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/NavSatFix.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/NavSatFix.h
new file mode 100644
index 0000000..9edc7c1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/NavSatFix.h
@@ -0,0 +1,192 @@
+#ifndef _ROS_sensor_msgs_NavSatFix_h
+#define _ROS_sensor_msgs_NavSatFix_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/NavSatStatus.h"
+
+namespace sensor_msgs
+{
+
+  class NavSatFix : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef sensor_msgs::NavSatStatus _status_type;
+      _status_type status;
+      typedef double _latitude_type;
+      _latitude_type latitude;
+      typedef double _longitude_type;
+      _longitude_type longitude;
+      typedef double _altitude_type;
+      _altitude_type altitude;
+      double position_covariance[9];
+      typedef uint8_t _position_covariance_type_type;
+      _position_covariance_type_type position_covariance_type;
+      enum { COVARIANCE_TYPE_UNKNOWN =  0 };
+      enum { COVARIANCE_TYPE_APPROXIMATED =  1 };
+      enum { COVARIANCE_TYPE_DIAGONAL_KNOWN =  2 };
+      enum { COVARIANCE_TYPE_KNOWN =  3 };
+
+    NavSatFix():
+      header(),
+      status(),
+      latitude(0),
+      longitude(0),
+      altitude(0),
+      position_covariance(),
+      position_covariance_type(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_latitude;
+      u_latitude.real = this->latitude;
+      *(outbuffer + offset + 0) = (u_latitude.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_latitude.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_latitude.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_latitude.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_latitude.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_latitude.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_latitude.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_latitude.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->latitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_longitude;
+      u_longitude.real = this->longitude;
+      *(outbuffer + offset + 0) = (u_longitude.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_longitude.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_longitude.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_longitude.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_longitude.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_longitude.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_longitude.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_longitude.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->longitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_altitude;
+      u_altitude.real = this->altitude;
+      *(outbuffer + offset + 0) = (u_altitude.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_altitude.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_altitude.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_altitude.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_altitude.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_altitude.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_altitude.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_altitude.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->altitude);
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_position_covariancei;
+      u_position_covariancei.real = this->position_covariance[i];
+      *(outbuffer + offset + 0) = (u_position_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position_covariance[i]);
+      }
+      *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->position_covariance_type);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_latitude;
+      u_latitude.base = 0;
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->latitude = u_latitude.real;
+      offset += sizeof(this->latitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_longitude;
+      u_longitude.base = 0;
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->longitude = u_longitude.real;
+      offset += sizeof(this->longitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_altitude;
+      u_altitude.base = 0;
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->altitude = u_altitude.real;
+      offset += sizeof(this->altitude);
+      for( uint32_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_position_covariancei;
+      u_position_covariancei.base = 0;
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position_covariance[i] = u_position_covariancei.real;
+      offset += sizeof(this->position_covariance[i]);
+      }
+      this->position_covariance_type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->position_covariance_type);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/NavSatFix"; };
+    const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/NavSatStatus.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/NavSatStatus.h
new file mode 100644
index 0000000..79d8abd
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/NavSatStatus.h
@@ -0,0 +1,73 @@
+#ifndef _ROS_sensor_msgs_NavSatStatus_h
+#define _ROS_sensor_msgs_NavSatStatus_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class NavSatStatus : public ros::Msg
+  {
+    public:
+      typedef int8_t _status_type;
+      _status_type status;
+      typedef uint16_t _service_type;
+      _service_type service;
+      enum { STATUS_NO_FIX =   -1         };
+      enum { STATUS_FIX =       0         };
+      enum { STATUS_SBAS_FIX =  1         };
+      enum { STATUS_GBAS_FIX =  2         };
+      enum { SERVICE_GPS =      1 };
+      enum { SERVICE_GLONASS =  2 };
+      enum { SERVICE_COMPASS =  4       };
+      enum { SERVICE_GALILEO =  8 };
+
+    NavSatStatus():
+      status(0),
+      service(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_status;
+      u_status.real = this->status;
+      *(outbuffer + offset + 0) = (u_status.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->status);
+      *(outbuffer + offset + 0) = (this->service >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->service >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->service);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_status;
+      u_status.base = 0;
+      u_status.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->status = u_status.real;
+      offset += sizeof(this->status);
+      this->service =  ((uint16_t) (*(inbuffer + offset)));
+      this->service |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->service);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/NavSatStatus"; };
+    const char * getMD5(){ return "331cdbddfa4bc96ffc3b9ad98900a54c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/PointCloud.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/PointCloud.h
new file mode 100644
index 0000000..f56e8d7
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/PointCloud.h
@@ -0,0 +1,96 @@
+#ifndef _ROS_sensor_msgs_PointCloud_h
+#define _ROS_sensor_msgs_PointCloud_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point32.h"
+#include "sensor_msgs/ChannelFloat32.h"
+
+namespace sensor_msgs
+{
+
+  class PointCloud : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t points_length;
+      typedef geometry_msgs::Point32 _points_type;
+      _points_type st_points;
+      _points_type * points;
+      uint32_t channels_length;
+      typedef sensor_msgs::ChannelFloat32 _channels_type;
+      _channels_type st_channels;
+      _channels_type * channels;
+
+    PointCloud():
+      header(),
+      points_length(0), points(NULL),
+      channels_length(0), channels(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->points_length);
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->channels_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->channels_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->channels_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->channels_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->channels_length);
+      for( uint32_t i = 0; i < channels_length; i++){
+      offset += this->channels[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->points_length);
+      if(points_lengthT > points_length)
+        this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
+      points_length = points_lengthT;
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
+      }
+      uint32_t channels_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->channels_length);
+      if(channels_lengthT > channels_length)
+        this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32));
+      channels_length = channels_lengthT;
+      for( uint32_t i = 0; i < channels_length; i++){
+      offset += this->st_channels.deserialize(inbuffer + offset);
+        memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/PointCloud"; };
+    const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/PointCloud2.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/PointCloud2.h
new file mode 100644
index 0000000..c545de1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/PointCloud2.h
@@ -0,0 +1,185 @@
+#ifndef _ROS_sensor_msgs_PointCloud2_h
+#define _ROS_sensor_msgs_PointCloud2_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/PointField.h"
+
+namespace sensor_msgs
+{
+
+  class PointCloud2 : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef uint32_t _height_type;
+      _height_type height;
+      typedef uint32_t _width_type;
+      _width_type width;
+      uint32_t fields_length;
+      typedef sensor_msgs::PointField _fields_type;
+      _fields_type st_fields;
+      _fields_type * fields;
+      typedef bool _is_bigendian_type;
+      _is_bigendian_type is_bigendian;
+      typedef uint32_t _point_step_type;
+      _point_step_type point_step;
+      typedef uint32_t _row_step_type;
+      _row_step_type row_step;
+      uint32_t data_length;
+      typedef uint8_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+      typedef bool _is_dense_type;
+      _is_dense_type is_dense;
+
+    PointCloud2():
+      header(),
+      height(0),
+      width(0),
+      fields_length(0), fields(NULL),
+      is_bigendian(0),
+      point_step(0),
+      row_step(0),
+      data_length(0), data(NULL),
+      is_dense(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      *(outbuffer + offset + 0) = (this->fields_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->fields_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->fields_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->fields_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->fields_length);
+      for( uint32_t i = 0; i < fields_length; i++){
+      offset += this->fields[i].serialize(outbuffer + offset);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_bigendian;
+      u_is_bigendian.real = this->is_bigendian;
+      *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_bigendian);
+      *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->point_step);
+      *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->row_step);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_dense;
+      u_is_dense.real = this->is_dense;
+      *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_dense);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      uint32_t fields_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->fields_length);
+      if(fields_lengthT > fields_length)
+        this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField));
+      fields_length = fields_lengthT;
+      for( uint32_t i = 0; i < fields_length; i++){
+      offset += this->st_fields.deserialize(inbuffer + offset);
+        memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_bigendian;
+      u_is_bigendian.base = 0;
+      u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_bigendian = u_is_bigendian.real;
+      offset += sizeof(this->is_bigendian);
+      this->point_step =  ((uint32_t) (*(inbuffer + offset)));
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->point_step);
+      this->row_step =  ((uint32_t) (*(inbuffer + offset)));
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->row_step);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_dense;
+      u_is_dense.base = 0;
+      u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_dense = u_is_dense.real;
+      offset += sizeof(this->is_dense);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/PointCloud2"; };
+    const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/PointField.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/PointField.h
new file mode 100644
index 0000000..7ad0cc4
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/PointField.h
@@ -0,0 +1,96 @@
+#ifndef _ROS_sensor_msgs_PointField_h
+#define _ROS_sensor_msgs_PointField_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class PointField : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef uint32_t _offset_type;
+      _offset_type offset;
+      typedef uint8_t _datatype_type;
+      _datatype_type datatype;
+      typedef uint32_t _count_type;
+      _count_type count;
+      enum { INT8 =  1 };
+      enum { UINT8 =  2 };
+      enum { INT16 =  3 };
+      enum { UINT16 =  4 };
+      enum { INT32 =  5 };
+      enum { UINT32 =  6 };
+      enum { FLOAT32 =  7 };
+      enum { FLOAT64 =  8 };
+
+    PointField():
+      name(""),
+      offset(0),
+      datatype(0),
+      count(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->offset);
+      *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->datatype);
+      *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->count);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      this->offset =  ((uint32_t) (*(inbuffer + offset)));
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->offset);
+      this->datatype =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->datatype);
+      this->count =  ((uint32_t) (*(inbuffer + offset)));
+      this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->count);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/PointField"; };
+    const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Range.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Range.h
new file mode 100644
index 0000000..bfa827e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Range.h
@@ -0,0 +1,149 @@
+#ifndef _ROS_sensor_msgs_Range_h
+#define _ROS_sensor_msgs_Range_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Range : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef uint8_t _radiation_type_type;
+      _radiation_type_type radiation_type;
+      typedef float _field_of_view_type;
+      _field_of_view_type field_of_view;
+      typedef float _min_range_type;
+      _min_range_type min_range;
+      typedef float _max_range_type;
+      _max_range_type max_range;
+      typedef float _range_type;
+      _range_type range;
+      enum { ULTRASOUND = 0 };
+      enum { INFRARED = 1 };
+
+    Range():
+      header(),
+      radiation_type(0),
+      field_of_view(0),
+      min_range(0),
+      max_range(0),
+      range(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->radiation_type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->radiation_type);
+      union {
+        float real;
+        uint32_t base;
+      } u_field_of_view;
+      u_field_of_view.real = this->field_of_view;
+      *(outbuffer + offset + 0) = (u_field_of_view.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_field_of_view.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_field_of_view.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_field_of_view.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->field_of_view);
+      union {
+        float real;
+        uint32_t base;
+      } u_min_range;
+      u_min_range.real = this->min_range;
+      *(outbuffer + offset + 0) = (u_min_range.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_min_range.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_min_range.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_min_range.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_range);
+      union {
+        float real;
+        uint32_t base;
+      } u_max_range;
+      u_max_range.real = this->max_range;
+      *(outbuffer + offset + 0) = (u_max_range.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_range.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_range.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_range.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->max_range);
+      union {
+        float real;
+        uint32_t base;
+      } u_range;
+      u_range.real = this->range;
+      *(outbuffer + offset + 0) = (u_range.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->radiation_type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->radiation_type);
+      union {
+        float real;
+        uint32_t base;
+      } u_field_of_view;
+      u_field_of_view.base = 0;
+      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->field_of_view = u_field_of_view.real;
+      offset += sizeof(this->field_of_view);
+      union {
+        float real;
+        uint32_t base;
+      } u_min_range;
+      u_min_range.base = 0;
+      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->min_range = u_min_range.real;
+      offset += sizeof(this->min_range);
+      union {
+        float real;
+        uint32_t base;
+      } u_max_range;
+      u_max_range.base = 0;
+      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->max_range = u_max_range.real;
+      offset += sizeof(this->max_range);
+      union {
+        float real;
+        uint32_t base;
+      } u_range;
+      u_range.base = 0;
+      u_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range = u_range.real;
+      offset += sizeof(this->range);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Range"; };
+    const char * getMD5(){ return "c005c34273dc426c67a020a87bc24148"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/RegionOfInterest.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/RegionOfInterest.h
new file mode 100644
index 0000000..ea0c663
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/RegionOfInterest.h
@@ -0,0 +1,108 @@
+#ifndef _ROS_sensor_msgs_RegionOfInterest_h
+#define _ROS_sensor_msgs_RegionOfInterest_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class RegionOfInterest : public ros::Msg
+  {
+    public:
+      typedef uint32_t _x_offset_type;
+      _x_offset_type x_offset;
+      typedef uint32_t _y_offset_type;
+      _y_offset_type y_offset;
+      typedef uint32_t _height_type;
+      _height_type height;
+      typedef uint32_t _width_type;
+      _width_type width;
+      typedef bool _do_rectify_type;
+      _do_rectify_type do_rectify;
+
+    RegionOfInterest():
+      x_offset(0),
+      y_offset(0),
+      height(0),
+      width(0),
+      do_rectify(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->x_offset >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->x_offset >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->x_offset >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->x_offset >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x_offset);
+      *(outbuffer + offset + 0) = (this->y_offset >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->y_offset >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->y_offset >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->y_offset >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y_offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      union {
+        bool real;
+        uint8_t base;
+      } u_do_rectify;
+      u_do_rectify.real = this->do_rectify;
+      *(outbuffer + offset + 0) = (u_do_rectify.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->do_rectify);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->x_offset =  ((uint32_t) (*(inbuffer + offset)));
+      this->x_offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->x_offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->x_offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->x_offset);
+      this->y_offset =  ((uint32_t) (*(inbuffer + offset)));
+      this->y_offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->y_offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->y_offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->y_offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      union {
+        bool real;
+        uint8_t base;
+      } u_do_rectify;
+      u_do_rectify.base = 0;
+      u_do_rectify.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->do_rectify = u_do_rectify.real;
+      offset += sizeof(this->do_rectify);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/RegionOfInterest"; };
+    const char * getMD5(){ return "bdb633039d588fcccb441a4d43ccfe09"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/RelativeHumidity.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/RelativeHumidity.h
new file mode 100644
index 0000000..a596f88
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/RelativeHumidity.h
@@ -0,0 +1,108 @@
+#ifndef _ROS_sensor_msgs_RelativeHumidity_h
+#define _ROS_sensor_msgs_RelativeHumidity_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class RelativeHumidity : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef double _relative_humidity_type;
+      _relative_humidity_type relative_humidity;
+      typedef double _variance_type;
+      _variance_type variance;
+
+    RelativeHumidity():
+      header(),
+      relative_humidity(0),
+      variance(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_relative_humidity;
+      u_relative_humidity.real = this->relative_humidity;
+      *(outbuffer + offset + 0) = (u_relative_humidity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_relative_humidity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_relative_humidity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_relative_humidity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_relative_humidity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_relative_humidity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_relative_humidity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_relative_humidity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->relative_humidity);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.real = this->variance;
+      *(outbuffer + offset + 0) = (u_variance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_variance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_variance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_variance.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_variance.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_variance.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_variance.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_variance.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->variance);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_relative_humidity;
+      u_relative_humidity.base = 0;
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->relative_humidity = u_relative_humidity.real;
+      offset += sizeof(this->relative_humidity);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.base = 0;
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->variance = u_variance.real;
+      offset += sizeof(this->variance);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/RelativeHumidity"; };
+    const char * getMD5(){ return "8730015b05955b7e992ce29a2678d90f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/SetCameraInfo.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/SetCameraInfo.h
new file mode 100644
index 0000000..3f838fb
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/SetCameraInfo.h
@@ -0,0 +1,111 @@
+#ifndef _ROS_SERVICE_SetCameraInfo_h
+#define _ROS_SERVICE_SetCameraInfo_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/CameraInfo.h"
+
+namespace sensor_msgs
+{
+
+static const char SETCAMERAINFO[] = "sensor_msgs/SetCameraInfo";
+
+  class SetCameraInfoRequest : public ros::Msg
+  {
+    public:
+      typedef sensor_msgs::CameraInfo _camera_info_type;
+      _camera_info_type camera_info;
+
+    SetCameraInfoRequest():
+      camera_info()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->camera_info.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->camera_info.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETCAMERAINFO; };
+    const char * getMD5(){ return "ee34be01fdeee563d0d99cd594d5581d"; };
+
+  };
+
+  class SetCameraInfoResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _status_message_type;
+      _status_message_type status_message;
+
+    SetCameraInfoResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      varToArr(outbuffer + offset, length_status_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      arrToVar(length_status_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETCAMERAINFO; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetCameraInfo {
+    public:
+    typedef SetCameraInfoRequest Request;
+    typedef SetCameraInfoResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Temperature.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Temperature.h
new file mode 100644
index 0000000..4308487
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/Temperature.h
@@ -0,0 +1,108 @@
+#ifndef _ROS_sensor_msgs_Temperature_h
+#define _ROS_sensor_msgs_Temperature_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Temperature : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef double _temperature_type;
+      _temperature_type temperature;
+      typedef double _variance_type;
+      _variance_type variance;
+
+    Temperature():
+      header(),
+      temperature(0),
+      variance(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_temperature;
+      u_temperature.real = this->temperature;
+      *(outbuffer + offset + 0) = (u_temperature.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_temperature.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_temperature.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_temperature.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_temperature.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_temperature.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_temperature.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_temperature.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->temperature);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.real = this->variance;
+      *(outbuffer + offset + 0) = (u_variance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_variance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_variance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_variance.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_variance.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_variance.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_variance.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_variance.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->variance);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_temperature;
+      u_temperature.base = 0;
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->temperature = u_temperature.real;
+      offset += sizeof(this->temperature);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.base = 0;
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->variance = u_variance.real;
+      offset += sizeof(this->variance);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Temperature"; };
+    const char * getMD5(){ return "ff71b307acdbe7c871a5a6d7ed359100"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/TimeReference.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/TimeReference.h
new file mode 100644
index 0000000..ed81b28
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/sensor_msgs/TimeReference.h
@@ -0,0 +1,85 @@
+#ifndef _ROS_sensor_msgs_TimeReference_h
+#define _ROS_sensor_msgs_TimeReference_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "ros/time.h"
+
+namespace sensor_msgs
+{
+
+  class TimeReference : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef ros::Time _time_ref_type;
+      _time_ref_type time_ref;
+      typedef const char* _source_type;
+      _source_type source;
+
+    TimeReference():
+      header(),
+      time_ref(),
+      source("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->time_ref.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_ref.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_ref.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_ref.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_ref.sec);
+      *(outbuffer + offset + 0) = (this->time_ref.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_ref.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_ref.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_ref.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_ref.nsec);
+      uint32_t length_source = strlen(this->source);
+      varToArr(outbuffer + offset, length_source);
+      offset += 4;
+      memcpy(outbuffer + offset, this->source, length_source);
+      offset += length_source;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->time_ref.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_ref.sec);
+      this->time_ref.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_ref.nsec);
+      uint32_t length_source;
+      arrToVar(length_source, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_source; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_source-1]=0;
+      this->source = (char *)(inbuffer + offset-1);
+      offset += length_source;
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/TimeReference"; };
+    const char * getMD5(){ return "fded64a0265108ba86c3d38fb11c0c16"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/Mesh.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/Mesh.h
new file mode 100644
index 0000000..3599765
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/Mesh.h
@@ -0,0 +1,90 @@
+#ifndef _ROS_shape_msgs_Mesh_h
+#define _ROS_shape_msgs_Mesh_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "shape_msgs/MeshTriangle.h"
+#include "geometry_msgs/Point.h"
+
+namespace shape_msgs
+{
+
+  class Mesh : public ros::Msg
+  {
+    public:
+      uint32_t triangles_length;
+      typedef shape_msgs::MeshTriangle _triangles_type;
+      _triangles_type st_triangles;
+      _triangles_type * triangles;
+      uint32_t vertices_length;
+      typedef geometry_msgs::Point _vertices_type;
+      _vertices_type st_vertices;
+      _vertices_type * vertices;
+
+    Mesh():
+      triangles_length(0), triangles(NULL),
+      vertices_length(0), vertices(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->triangles_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->triangles_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->triangles_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->triangles_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->triangles_length);
+      for( uint32_t i = 0; i < triangles_length; i++){
+      offset += this->triangles[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->vertices_length);
+      for( uint32_t i = 0; i < vertices_length; i++){
+      offset += this->vertices[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t triangles_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->triangles_length);
+      if(triangles_lengthT > triangles_length)
+        this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle));
+      triangles_length = triangles_lengthT;
+      for( uint32_t i = 0; i < triangles_length; i++){
+      offset += this->st_triangles.deserialize(inbuffer + offset);
+        memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle));
+      }
+      uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->vertices_length);
+      if(vertices_lengthT > vertices_length)
+        this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point));
+      vertices_length = vertices_lengthT;
+      for( uint32_t i = 0; i < vertices_length; i++){
+      offset += this->st_vertices.deserialize(inbuffer + offset);
+        memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "shape_msgs/Mesh"; };
+    const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/MeshTriangle.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/MeshTriangle.h
new file mode 100644
index 0000000..b4aad17
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/MeshTriangle.h
@@ -0,0 +1,54 @@
+#ifndef _ROS_shape_msgs_MeshTriangle_h
+#define _ROS_shape_msgs_MeshTriangle_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace shape_msgs
+{
+
+  class MeshTriangle : public ros::Msg
+  {
+    public:
+      uint32_t vertex_indices[3];
+
+    MeshTriangle():
+      vertex_indices()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      for( uint32_t i = 0; i < 3; i++){
+      *(outbuffer + offset + 0) = (this->vertex_indices[i] >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->vertex_indices[i] >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->vertex_indices[i] >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->vertex_indices[i] >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->vertex_indices[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      for( uint32_t i = 0; i < 3; i++){
+      this->vertex_indices[i] =  ((uint32_t) (*(inbuffer + offset)));
+      this->vertex_indices[i] |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->vertex_indices[i] |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->vertex_indices[i] |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->vertex_indices[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "shape_msgs/MeshTriangle"; };
+    const char * getMD5(){ return "23688b2e6d2de3d32fe8af104a903253"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/Plane.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/Plane.h
new file mode 100644
index 0000000..6f4c332
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/Plane.h
@@ -0,0 +1,73 @@
+#ifndef _ROS_shape_msgs_Plane_h
+#define _ROS_shape_msgs_Plane_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace shape_msgs
+{
+
+  class Plane : public ros::Msg
+  {
+    public:
+      double coef[4];
+
+    Plane():
+      coef()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      for( uint32_t i = 0; i < 4; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_coefi;
+      u_coefi.real = this->coef[i];
+      *(outbuffer + offset + 0) = (u_coefi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_coefi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_coefi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_coefi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_coefi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_coefi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_coefi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_coefi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->coef[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      for( uint32_t i = 0; i < 4; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_coefi;
+      u_coefi.base = 0;
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->coef[i] = u_coefi.real;
+      offset += sizeof(this->coef[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "shape_msgs/Plane"; };
+    const char * getMD5(){ return "2c1b92ed8f31492f8e73f6a4a44ca796"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/SolidPrimitive.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/SolidPrimitive.h
new file mode 100644
index 0000000..4751ad8
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/shape_msgs/SolidPrimitive.h
@@ -0,0 +1,109 @@
+#ifndef _ROS_shape_msgs_SolidPrimitive_h
+#define _ROS_shape_msgs_SolidPrimitive_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace shape_msgs
+{
+
+  class SolidPrimitive : public ros::Msg
+  {
+    public:
+      typedef uint8_t _type_type;
+      _type_type type;
+      uint32_t dimensions_length;
+      typedef double _dimensions_type;
+      _dimensions_type st_dimensions;
+      _dimensions_type * dimensions;
+      enum { BOX = 1 };
+      enum { SPHERE = 2 };
+      enum { CYLINDER = 3 };
+      enum { CONE = 4 };
+      enum { BOX_X = 0 };
+      enum { BOX_Y = 1 };
+      enum { BOX_Z = 2 };
+      enum { SPHERE_RADIUS = 0 };
+      enum { CYLINDER_HEIGHT = 0 };
+      enum { CYLINDER_RADIUS = 1 };
+      enum { CONE_HEIGHT = 0 };
+      enum { CONE_RADIUS = 1 };
+
+    SolidPrimitive():
+      type(0),
+      dimensions_length(0), dimensions(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->type);
+      *(outbuffer + offset + 0) = (this->dimensions_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->dimensions_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->dimensions_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->dimensions_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dimensions_length);
+      for( uint32_t i = 0; i < dimensions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_dimensionsi;
+      u_dimensionsi.real = this->dimensions[i];
+      *(outbuffer + offset + 0) = (u_dimensionsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dimensionsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dimensionsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dimensionsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_dimensionsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_dimensionsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_dimensionsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_dimensionsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->dimensions[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->type);
+      uint32_t dimensions_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->dimensions_length);
+      if(dimensions_lengthT > dimensions_length)
+        this->dimensions = (double*)realloc(this->dimensions, dimensions_lengthT * sizeof(double));
+      dimensions_length = dimensions_lengthT;
+      for( uint32_t i = 0; i < dimensions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_dimensions;
+      u_st_dimensions.base = 0;
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_dimensions = u_st_dimensions.real;
+      offset += sizeof(this->st_dimensions);
+        memcpy( &(this->dimensions[i]), &(this->st_dimensions), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "shape_msgs/SolidPrimitive"; };
+    const char * getMD5(){ return "d8f8cbc74c5ff283fca29569ccefb45d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/skeletonmsgs_nu/Skeleton.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/skeletonmsgs_nu/Skeleton.h
new file mode 100644
index 0000000..1b607ef
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/skeletonmsgs_nu/Skeleton.h
@@ -0,0 +1,138 @@
+#ifndef _ROS_skeletonmsgs_nu_Skeleton_h
+#define _ROS_skeletonmsgs_nu_Skeleton_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "skeletonmsgs_nu/SkeletonJoint.h"
+
+namespace skeletonmsgs_nu
+{
+
+  class Skeleton : public ros::Msg
+  {
+    public:
+      typedef int32_t _userid_type;
+      _userid_type userid;
+      typedef skeletonmsgs_nu::SkeletonJoint _head_type;
+      _head_type head;
+      typedef skeletonmsgs_nu::SkeletonJoint _neck_type;
+      _neck_type neck;
+      typedef skeletonmsgs_nu::SkeletonJoint _right_hand_type;
+      _right_hand_type right_hand;
+      typedef skeletonmsgs_nu::SkeletonJoint _left_hand_type;
+      _left_hand_type left_hand;
+      typedef skeletonmsgs_nu::SkeletonJoint _right_shoulder_type;
+      _right_shoulder_type right_shoulder;
+      typedef skeletonmsgs_nu::SkeletonJoint _left_shoulder_type;
+      _left_shoulder_type left_shoulder;
+      typedef skeletonmsgs_nu::SkeletonJoint _right_elbow_type;
+      _right_elbow_type right_elbow;
+      typedef skeletonmsgs_nu::SkeletonJoint _left_elbow_type;
+      _left_elbow_type left_elbow;
+      typedef skeletonmsgs_nu::SkeletonJoint _torso_type;
+      _torso_type torso;
+      typedef skeletonmsgs_nu::SkeletonJoint _left_hip_type;
+      _left_hip_type left_hip;
+      typedef skeletonmsgs_nu::SkeletonJoint _right_hip_type;
+      _right_hip_type right_hip;
+      typedef skeletonmsgs_nu::SkeletonJoint _left_knee_type;
+      _left_knee_type left_knee;
+      typedef skeletonmsgs_nu::SkeletonJoint _right_knee_type;
+      _right_knee_type right_knee;
+      typedef skeletonmsgs_nu::SkeletonJoint _left_foot_type;
+      _left_foot_type left_foot;
+      typedef skeletonmsgs_nu::SkeletonJoint _right_foot_type;
+      _right_foot_type right_foot;
+
+    Skeleton():
+      userid(0),
+      head(),
+      neck(),
+      right_hand(),
+      left_hand(),
+      right_shoulder(),
+      left_shoulder(),
+      right_elbow(),
+      left_elbow(),
+      torso(),
+      left_hip(),
+      right_hip(),
+      left_knee(),
+      right_knee(),
+      left_foot(),
+      right_foot()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_userid;
+      u_userid.real = this->userid;
+      *(outbuffer + offset + 0) = (u_userid.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_userid.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_userid.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_userid.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->userid);
+      offset += this->head.serialize(outbuffer + offset);
+      offset += this->neck.serialize(outbuffer + offset);
+      offset += this->right_hand.serialize(outbuffer + offset);
+      offset += this->left_hand.serialize(outbuffer + offset);
+      offset += this->right_shoulder.serialize(outbuffer + offset);
+      offset += this->left_shoulder.serialize(outbuffer + offset);
+      offset += this->right_elbow.serialize(outbuffer + offset);
+      offset += this->left_elbow.serialize(outbuffer + offset);
+      offset += this->torso.serialize(outbuffer + offset);
+      offset += this->left_hip.serialize(outbuffer + offset);
+      offset += this->right_hip.serialize(outbuffer + offset);
+      offset += this->left_knee.serialize(outbuffer + offset);
+      offset += this->right_knee.serialize(outbuffer + offset);
+      offset += this->left_foot.serialize(outbuffer + offset);
+      offset += this->right_foot.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_userid;
+      u_userid.base = 0;
+      u_userid.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_userid.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_userid.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_userid.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->userid = u_userid.real;
+      offset += sizeof(this->userid);
+      offset += this->head.deserialize(inbuffer + offset);
+      offset += this->neck.deserialize(inbuffer + offset);
+      offset += this->right_hand.deserialize(inbuffer + offset);
+      offset += this->left_hand.deserialize(inbuffer + offset);
+      offset += this->right_shoulder.deserialize(inbuffer + offset);
+      offset += this->left_shoulder.deserialize(inbuffer + offset);
+      offset += this->right_elbow.deserialize(inbuffer + offset);
+      offset += this->left_elbow.deserialize(inbuffer + offset);
+      offset += this->torso.deserialize(inbuffer + offset);
+      offset += this->left_hip.deserialize(inbuffer + offset);
+      offset += this->right_hip.deserialize(inbuffer + offset);
+      offset += this->left_knee.deserialize(inbuffer + offset);
+      offset += this->right_knee.deserialize(inbuffer + offset);
+      offset += this->left_foot.deserialize(inbuffer + offset);
+      offset += this->right_foot.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "skeletonmsgs_nu/Skeleton"; };
+    const char * getMD5(){ return "4229bd747f63f2cf74f6314be0bb5c54"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/skeletonmsgs_nu/SkeletonJoint.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/skeletonmsgs_nu/SkeletonJoint.h
new file mode 100644
index 0000000..b0fd1ec
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/skeletonmsgs_nu/SkeletonJoint.h
@@ -0,0 +1,68 @@
+#ifndef _ROS_skeletonmsgs_nu_SkeletonJoint_h
+#define _ROS_skeletonmsgs_nu_SkeletonJoint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Transform.h"
+
+namespace skeletonmsgs_nu
+{
+
+  class SkeletonJoint : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::Transform _transform_type;
+      _transform_type transform;
+      typedef float _confidence_type;
+      _confidence_type confidence;
+
+    SkeletonJoint():
+      transform(),
+      confidence(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->transform.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_confidence;
+      u_confidence.real = this->confidence;
+      *(outbuffer + offset + 0) = (u_confidence.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_confidence.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_confidence.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_confidence.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->confidence);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->transform.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_confidence;
+      u_confidence.base = 0;
+      u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->confidence = u_confidence.real;
+      offset += sizeof(this->confidence);
+     return offset;
+    }
+
+    const char * getType(){ return "skeletonmsgs_nu/SkeletonJoint"; };
+    const char * getMD5(){ return "104ed9fc6089ba302b7abc1843aa95fe"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/skeletonmsgs_nu/Skeletons.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/skeletonmsgs_nu/Skeletons.h
new file mode 100644
index 0000000..4c92a7c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/skeletonmsgs_nu/Skeletons.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_skeletonmsgs_nu_Skeletons_h
+#define _ROS_skeletonmsgs_nu_Skeletons_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "skeletonmsgs_nu/Skeleton.h"
+
+namespace skeletonmsgs_nu
+{
+
+  class Skeletons : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t skeletons_length;
+      typedef skeletonmsgs_nu::Skeleton _skeletons_type;
+      _skeletons_type st_skeletons;
+      _skeletons_type * skeletons;
+
+    Skeletons():
+      header(),
+      skeletons_length(0), skeletons(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->skeletons_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->skeletons_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->skeletons_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->skeletons_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->skeletons_length);
+      for( uint32_t i = 0; i < skeletons_length; i++){
+      offset += this->skeletons[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t skeletons_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      skeletons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      skeletons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      skeletons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->skeletons_length);
+      if(skeletons_lengthT > skeletons_length)
+        this->skeletons = (skeletonmsgs_nu::Skeleton*)realloc(this->skeletons, skeletons_lengthT * sizeof(skeletonmsgs_nu::Skeleton));
+      skeletons_length = skeletons_lengthT;
+      for( uint32_t i = 0; i < skeletons_length; i++){
+      offset += this->st_skeletons.deserialize(inbuffer + offset);
+        memcpy( &(this->skeletons[i]), &(this->st_skeletons), sizeof(skeletonmsgs_nu::Skeleton));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "skeletonmsgs_nu/Skeletons"; };
+    const char * getMD5(){ return "3d673547febdc9b93fc78fb55390c688"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/smach_msgs/SmachContainerInitialStatusCmd.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/smach_msgs/SmachContainerInitialStatusCmd.h
new file mode 100644
index 0000000..bd1e131
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/smach_msgs/SmachContainerInitialStatusCmd.h
@@ -0,0 +1,109 @@
+#ifndef _ROS_smach_msgs_SmachContainerInitialStatusCmd_h
+#define _ROS_smach_msgs_SmachContainerInitialStatusCmd_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace smach_msgs
+{
+
+  class SmachContainerInitialStatusCmd : public ros::Msg
+  {
+    public:
+      typedef const char* _path_type;
+      _path_type path;
+      uint32_t initial_states_length;
+      typedef char* _initial_states_type;
+      _initial_states_type st_initial_states;
+      _initial_states_type * initial_states;
+      typedef const char* _local_data_type;
+      _local_data_type local_data;
+
+    SmachContainerInitialStatusCmd():
+      path(""),
+      initial_states_length(0), initial_states(NULL),
+      local_data("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_path = strlen(this->path);
+      varToArr(outbuffer + offset, length_path);
+      offset += 4;
+      memcpy(outbuffer + offset, this->path, length_path);
+      offset += length_path;
+      *(outbuffer + offset + 0) = (this->initial_states_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->initial_states_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->initial_states_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->initial_states_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->initial_states_length);
+      for( uint32_t i = 0; i < initial_states_length; i++){
+      uint32_t length_initial_statesi = strlen(this->initial_states[i]);
+      varToArr(outbuffer + offset, length_initial_statesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->initial_states[i], length_initial_statesi);
+      offset += length_initial_statesi;
+      }
+      uint32_t length_local_data = strlen(this->local_data);
+      varToArr(outbuffer + offset, length_local_data);
+      offset += 4;
+      memcpy(outbuffer + offset, this->local_data, length_local_data);
+      offset += length_local_data;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_path;
+      arrToVar(length_path, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_path; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_path-1]=0;
+      this->path = (char *)(inbuffer + offset-1);
+      offset += length_path;
+      uint32_t initial_states_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->initial_states_length);
+      if(initial_states_lengthT > initial_states_length)
+        this->initial_states = (char**)realloc(this->initial_states, initial_states_lengthT * sizeof(char*));
+      initial_states_length = initial_states_lengthT;
+      for( uint32_t i = 0; i < initial_states_length; i++){
+      uint32_t length_st_initial_states;
+      arrToVar(length_st_initial_states, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_initial_states; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_initial_states-1]=0;
+      this->st_initial_states = (char *)(inbuffer + offset-1);
+      offset += length_st_initial_states;
+        memcpy( &(this->initial_states[i]), &(this->st_initial_states), sizeof(char*));
+      }
+      uint32_t length_local_data;
+      arrToVar(length_local_data, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_local_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_local_data-1]=0;
+      this->local_data = (char *)(inbuffer + offset-1);
+      offset += length_local_data;
+     return offset;
+    }
+
+    const char * getType(){ return "smach_msgs/SmachContainerInitialStatusCmd"; };
+    const char * getMD5(){ return "45f8cf31fc29b829db77f23001f788d6"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/smach_msgs/SmachContainerStatus.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/smach_msgs/SmachContainerStatus.h
new file mode 100644
index 0000000..8c54da3
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/smach_msgs/SmachContainerStatus.h
@@ -0,0 +1,169 @@
+#ifndef _ROS_smach_msgs_SmachContainerStatus_h
+#define _ROS_smach_msgs_SmachContainerStatus_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace smach_msgs
+{
+
+  class SmachContainerStatus : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _path_type;
+      _path_type path;
+      uint32_t initial_states_length;
+      typedef char* _initial_states_type;
+      _initial_states_type st_initial_states;
+      _initial_states_type * initial_states;
+      uint32_t active_states_length;
+      typedef char* _active_states_type;
+      _active_states_type st_active_states;
+      _active_states_type * active_states;
+      typedef const char* _local_data_type;
+      _local_data_type local_data;
+      typedef const char* _info_type;
+      _info_type info;
+
+    SmachContainerStatus():
+      header(),
+      path(""),
+      initial_states_length(0), initial_states(NULL),
+      active_states_length(0), active_states(NULL),
+      local_data(""),
+      info("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_path = strlen(this->path);
+      varToArr(outbuffer + offset, length_path);
+      offset += 4;
+      memcpy(outbuffer + offset, this->path, length_path);
+      offset += length_path;
+      *(outbuffer + offset + 0) = (this->initial_states_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->initial_states_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->initial_states_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->initial_states_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->initial_states_length);
+      for( uint32_t i = 0; i < initial_states_length; i++){
+      uint32_t length_initial_statesi = strlen(this->initial_states[i]);
+      varToArr(outbuffer + offset, length_initial_statesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->initial_states[i], length_initial_statesi);
+      offset += length_initial_statesi;
+      }
+      *(outbuffer + offset + 0) = (this->active_states_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->active_states_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->active_states_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->active_states_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->active_states_length);
+      for( uint32_t i = 0; i < active_states_length; i++){
+      uint32_t length_active_statesi = strlen(this->active_states[i]);
+      varToArr(outbuffer + offset, length_active_statesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->active_states[i], length_active_statesi);
+      offset += length_active_statesi;
+      }
+      uint32_t length_local_data = strlen(this->local_data);
+      varToArr(outbuffer + offset, length_local_data);
+      offset += 4;
+      memcpy(outbuffer + offset, this->local_data, length_local_data);
+      offset += length_local_data;
+      uint32_t length_info = strlen(this->info);
+      varToArr(outbuffer + offset, length_info);
+      offset += 4;
+      memcpy(outbuffer + offset, this->info, length_info);
+      offset += length_info;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_path;
+      arrToVar(length_path, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_path; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_path-1]=0;
+      this->path = (char *)(inbuffer + offset-1);
+      offset += length_path;
+      uint32_t initial_states_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      initial_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->initial_states_length);
+      if(initial_states_lengthT > initial_states_length)
+        this->initial_states = (char**)realloc(this->initial_states, initial_states_lengthT * sizeof(char*));
+      initial_states_length = initial_states_lengthT;
+      for( uint32_t i = 0; i < initial_states_length; i++){
+      uint32_t length_st_initial_states;
+      arrToVar(length_st_initial_states, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_initial_states; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_initial_states-1]=0;
+      this->st_initial_states = (char *)(inbuffer + offset-1);
+      offset += length_st_initial_states;
+        memcpy( &(this->initial_states[i]), &(this->st_initial_states), sizeof(char*));
+      }
+      uint32_t active_states_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      active_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      active_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      active_states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->active_states_length);
+      if(active_states_lengthT > active_states_length)
+        this->active_states = (char**)realloc(this->active_states, active_states_lengthT * sizeof(char*));
+      active_states_length = active_states_lengthT;
+      for( uint32_t i = 0; i < active_states_length; i++){
+      uint32_t length_st_active_states;
+      arrToVar(length_st_active_states, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_active_states; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_active_states-1]=0;
+      this->st_active_states = (char *)(inbuffer + offset-1);
+      offset += length_st_active_states;
+        memcpy( &(this->active_states[i]), &(this->st_active_states), sizeof(char*));
+      }
+      uint32_t length_local_data;
+      arrToVar(length_local_data, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_local_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_local_data-1]=0;
+      this->local_data = (char *)(inbuffer + offset-1);
+      offset += length_local_data;
+      uint32_t length_info;
+      arrToVar(length_info, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_info; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_info-1]=0;
+      this->info = (char *)(inbuffer + offset-1);
+      offset += length_info;
+     return offset;
+    }
+
+    const char * getType(){ return "smach_msgs/SmachContainerStatus"; };
+    const char * getMD5(){ return "5ba2bb79ac19e3842d562a191f2a675b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/smach_msgs/SmachContainerStructure.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/smach_msgs/SmachContainerStructure.h
new file mode 100644
index 0000000..935b7e1
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/smach_msgs/SmachContainerStructure.h
@@ -0,0 +1,246 @@
+#ifndef _ROS_smach_msgs_SmachContainerStructure_h
+#define _ROS_smach_msgs_SmachContainerStructure_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace smach_msgs
+{
+
+  class SmachContainerStructure : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _path_type;
+      _path_type path;
+      uint32_t children_length;
+      typedef char* _children_type;
+      _children_type st_children;
+      _children_type * children;
+      uint32_t internal_outcomes_length;
+      typedef char* _internal_outcomes_type;
+      _internal_outcomes_type st_internal_outcomes;
+      _internal_outcomes_type * internal_outcomes;
+      uint32_t outcomes_from_length;
+      typedef char* _outcomes_from_type;
+      _outcomes_from_type st_outcomes_from;
+      _outcomes_from_type * outcomes_from;
+      uint32_t outcomes_to_length;
+      typedef char* _outcomes_to_type;
+      _outcomes_to_type st_outcomes_to;
+      _outcomes_to_type * outcomes_to;
+      uint32_t container_outcomes_length;
+      typedef char* _container_outcomes_type;
+      _container_outcomes_type st_container_outcomes;
+      _container_outcomes_type * container_outcomes;
+
+    SmachContainerStructure():
+      header(),
+      path(""),
+      children_length(0), children(NULL),
+      internal_outcomes_length(0), internal_outcomes(NULL),
+      outcomes_from_length(0), outcomes_from(NULL),
+      outcomes_to_length(0), outcomes_to(NULL),
+      container_outcomes_length(0), container_outcomes(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_path = strlen(this->path);
+      varToArr(outbuffer + offset, length_path);
+      offset += 4;
+      memcpy(outbuffer + offset, this->path, length_path);
+      offset += length_path;
+      *(outbuffer + offset + 0) = (this->children_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->children_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->children_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->children_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->children_length);
+      for( uint32_t i = 0; i < children_length; i++){
+      uint32_t length_childreni = strlen(this->children[i]);
+      varToArr(outbuffer + offset, length_childreni);
+      offset += 4;
+      memcpy(outbuffer + offset, this->children[i], length_childreni);
+      offset += length_childreni;
+      }
+      *(outbuffer + offset + 0) = (this->internal_outcomes_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->internal_outcomes_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->internal_outcomes_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->internal_outcomes_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->internal_outcomes_length);
+      for( uint32_t i = 0; i < internal_outcomes_length; i++){
+      uint32_t length_internal_outcomesi = strlen(this->internal_outcomes[i]);
+      varToArr(outbuffer + offset, length_internal_outcomesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->internal_outcomes[i], length_internal_outcomesi);
+      offset += length_internal_outcomesi;
+      }
+      *(outbuffer + offset + 0) = (this->outcomes_from_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->outcomes_from_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->outcomes_from_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->outcomes_from_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->outcomes_from_length);
+      for( uint32_t i = 0; i < outcomes_from_length; i++){
+      uint32_t length_outcomes_fromi = strlen(this->outcomes_from[i]);
+      varToArr(outbuffer + offset, length_outcomes_fromi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->outcomes_from[i], length_outcomes_fromi);
+      offset += length_outcomes_fromi;
+      }
+      *(outbuffer + offset + 0) = (this->outcomes_to_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->outcomes_to_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->outcomes_to_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->outcomes_to_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->outcomes_to_length);
+      for( uint32_t i = 0; i < outcomes_to_length; i++){
+      uint32_t length_outcomes_toi = strlen(this->outcomes_to[i]);
+      varToArr(outbuffer + offset, length_outcomes_toi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->outcomes_to[i], length_outcomes_toi);
+      offset += length_outcomes_toi;
+      }
+      *(outbuffer + offset + 0) = (this->container_outcomes_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->container_outcomes_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->container_outcomes_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->container_outcomes_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->container_outcomes_length);
+      for( uint32_t i = 0; i < container_outcomes_length; i++){
+      uint32_t length_container_outcomesi = strlen(this->container_outcomes[i]);
+      varToArr(outbuffer + offset, length_container_outcomesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->container_outcomes[i], length_container_outcomesi);
+      offset += length_container_outcomesi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_path;
+      arrToVar(length_path, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_path; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_path-1]=0;
+      this->path = (char *)(inbuffer + offset-1);
+      offset += length_path;
+      uint32_t children_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      children_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      children_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      children_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->children_length);
+      if(children_lengthT > children_length)
+        this->children = (char**)realloc(this->children, children_lengthT * sizeof(char*));
+      children_length = children_lengthT;
+      for( uint32_t i = 0; i < children_length; i++){
+      uint32_t length_st_children;
+      arrToVar(length_st_children, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_children; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_children-1]=0;
+      this->st_children = (char *)(inbuffer + offset-1);
+      offset += length_st_children;
+        memcpy( &(this->children[i]), &(this->st_children), sizeof(char*));
+      }
+      uint32_t internal_outcomes_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      internal_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      internal_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      internal_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->internal_outcomes_length);
+      if(internal_outcomes_lengthT > internal_outcomes_length)
+        this->internal_outcomes = (char**)realloc(this->internal_outcomes, internal_outcomes_lengthT * sizeof(char*));
+      internal_outcomes_length = internal_outcomes_lengthT;
+      for( uint32_t i = 0; i < internal_outcomes_length; i++){
+      uint32_t length_st_internal_outcomes;
+      arrToVar(length_st_internal_outcomes, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_internal_outcomes; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_internal_outcomes-1]=0;
+      this->st_internal_outcomes = (char *)(inbuffer + offset-1);
+      offset += length_st_internal_outcomes;
+        memcpy( &(this->internal_outcomes[i]), &(this->st_internal_outcomes), sizeof(char*));
+      }
+      uint32_t outcomes_from_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      outcomes_from_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      outcomes_from_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      outcomes_from_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->outcomes_from_length);
+      if(outcomes_from_lengthT > outcomes_from_length)
+        this->outcomes_from = (char**)realloc(this->outcomes_from, outcomes_from_lengthT * sizeof(char*));
+      outcomes_from_length = outcomes_from_lengthT;
+      for( uint32_t i = 0; i < outcomes_from_length; i++){
+      uint32_t length_st_outcomes_from;
+      arrToVar(length_st_outcomes_from, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_outcomes_from; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_outcomes_from-1]=0;
+      this->st_outcomes_from = (char *)(inbuffer + offset-1);
+      offset += length_st_outcomes_from;
+        memcpy( &(this->outcomes_from[i]), &(this->st_outcomes_from), sizeof(char*));
+      }
+      uint32_t outcomes_to_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      outcomes_to_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      outcomes_to_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      outcomes_to_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->outcomes_to_length);
+      if(outcomes_to_lengthT > outcomes_to_length)
+        this->outcomes_to = (char**)realloc(this->outcomes_to, outcomes_to_lengthT * sizeof(char*));
+      outcomes_to_length = outcomes_to_lengthT;
+      for( uint32_t i = 0; i < outcomes_to_length; i++){
+      uint32_t length_st_outcomes_to;
+      arrToVar(length_st_outcomes_to, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_outcomes_to; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_outcomes_to-1]=0;
+      this->st_outcomes_to = (char *)(inbuffer + offset-1);
+      offset += length_st_outcomes_to;
+        memcpy( &(this->outcomes_to[i]), &(this->st_outcomes_to), sizeof(char*));
+      }
+      uint32_t container_outcomes_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      container_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      container_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      container_outcomes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->container_outcomes_length);
+      if(container_outcomes_lengthT > container_outcomes_length)
+        this->container_outcomes = (char**)realloc(this->container_outcomes, container_outcomes_lengthT * sizeof(char*));
+      container_outcomes_length = container_outcomes_lengthT;
+      for( uint32_t i = 0; i < container_outcomes_length; i++){
+      uint32_t length_st_container_outcomes;
+      arrToVar(length_st_container_outcomes, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_container_outcomes; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_container_outcomes-1]=0;
+      this->st_container_outcomes = (char *)(inbuffer + offset-1);
+      offset += length_st_container_outcomes;
+        memcpy( &(this->container_outcomes[i]), &(this->st_container_outcomes), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "smach_msgs/SmachContainerStructure"; };
+    const char * getMD5(){ return "3d3d1e0d0f99779ee9e58101a5dcf7ea"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Bool.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Bool.h
new file mode 100644
index 0000000..6641dd0
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Bool.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_std_msgs_Bool_h
+#define _ROS_std_msgs_Bool_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Bool : public ros::Msg
+  {
+    public:
+      typedef bool _data_type;
+      _data_type data;
+
+    Bool():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Bool"; };
+    const char * getMD5(){ return "8b94c1b53db61fb6aed406028ad6332a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Byte.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Byte.h
new file mode 100644
index 0000000..bf81f6f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Byte.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_std_msgs_Byte_h
+#define _ROS_std_msgs_Byte_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Byte : public ros::Msg
+  {
+    public:
+      typedef int8_t _data_type;
+      _data_type data;
+
+    Byte():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Byte"; };
+    const char * getMD5(){ return "ad736a2e8818154c487bb80fe42ce43b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/ByteMultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/ByteMultiArray.h
new file mode 100644
index 0000000..bf3f8b4
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/ByteMultiArray.h
@@ -0,0 +1,82 @@
+#ifndef _ROS_std_msgs_ByteMultiArray_h
+#define _ROS_std_msgs_ByteMultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class ByteMultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef int8_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    ByteMultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/ByteMultiArray"; };
+    const char * getMD5(){ return "70ea476cbcfd65ac2f68f3cda1e891fe"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Char.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Char.h
new file mode 100644
index 0000000..ab3340f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Char.h
@@ -0,0 +1,45 @@
+#ifndef _ROS_std_msgs_Char_h
+#define _ROS_std_msgs_Char_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Char : public ros::Msg
+  {
+    public:
+      typedef uint8_t _data_type;
+      _data_type data;
+
+    Char():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Char"; };
+    const char * getMD5(){ return "1bf77f25acecdedba0e224b162199717"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/ColorRGBA.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/ColorRGBA.h
new file mode 100644
index 0000000..e782d2f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/ColorRGBA.h
@@ -0,0 +1,134 @@
+#ifndef _ROS_std_msgs_ColorRGBA_h
+#define _ROS_std_msgs_ColorRGBA_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class ColorRGBA : public ros::Msg
+  {
+    public:
+      typedef float _r_type;
+      _r_type r;
+      typedef float _g_type;
+      _g_type g;
+      typedef float _b_type;
+      _b_type b;
+      typedef float _a_type;
+      _a_type a;
+
+    ColorRGBA():
+      r(0),
+      g(0),
+      b(0),
+      a(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_r;
+      u_r.real = this->r;
+      *(outbuffer + offset + 0) = (u_r.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_r.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_r.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_r.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->r);
+      union {
+        float real;
+        uint32_t base;
+      } u_g;
+      u_g.real = this->g;
+      *(outbuffer + offset + 0) = (u_g.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_g.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_g.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_g.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->g);
+      union {
+        float real;
+        uint32_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->b);
+      union {
+        float real;
+        uint32_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->a);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_r;
+      u_r.base = 0;
+      u_r.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_r.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_r.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_r.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->r = u_r.real;
+      offset += sizeof(this->r);
+      union {
+        float real;
+        uint32_t base;
+      } u_g;
+      u_g.base = 0;
+      u_g.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_g.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_g.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_g.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->g = u_g.real;
+      offset += sizeof(this->g);
+      union {
+        float real;
+        uint32_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+      union {
+        float real;
+        uint32_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/ColorRGBA"; };
+    const char * getMD5(){ return "a29a96539573343b1310c73607334b00"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Duration.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Duration.h
new file mode 100644
index 0000000..9373f35
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Duration.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_std_msgs_Duration_h
+#define _ROS_std_msgs_Duration_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace std_msgs
+{
+
+  class Duration : public ros::Msg
+  {
+    public:
+      typedef ros::Duration _data_type;
+      _data_type data;
+
+    Duration():
+      data()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data.sec);
+      *(outbuffer + offset + 0) = (this->data.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data.sec);
+      this->data.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Duration"; };
+    const char * getMD5(){ return "3e286caf4241d664e55f3ad380e2ae46"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Empty.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Empty.h
new file mode 100644
index 0000000..440e5ed
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Empty.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_std_msgs_Empty_h
+#define _ROS_std_msgs_Empty_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Empty : public ros::Msg
+  {
+    public:
+
+    Empty()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Empty"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float32.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float32.h
new file mode 100644
index 0000000..07fc435
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float32.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_std_msgs_Float32_h
+#define _ROS_std_msgs_Float32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Float32 : public ros::Msg
+  {
+    public:
+      typedef float _data_type;
+      _data_type data;
+
+    Float32():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Float32"; };
+    const char * getMD5(){ return "73fcbf46b49191e672908e50842a83d4"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float32MultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float32MultiArray.h
new file mode 100644
index 0000000..08800d0
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float32MultiArray.h
@@ -0,0 +1,88 @@
+#ifndef _ROS_std_msgs_Float32MultiArray_h
+#define _ROS_std_msgs_Float32MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Float32MultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef float _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    Float32MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Float32MultiArray"; };
+    const char * getMD5(){ return "6a40e0ffa6a17a503ac3f8616991b1f6"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float64.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float64.h
new file mode 100644
index 0000000..b566cb6
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float64.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_std_msgs_Float64_h
+#define _ROS_std_msgs_Float64_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Float64 : public ros::Msg
+  {
+    public:
+      typedef double _data_type;
+      _data_type data;
+
+    Float64():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Float64"; };
+    const char * getMD5(){ return "fdb28210bfa9d7c91146260178d9a584"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float64MultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float64MultiArray.h
new file mode 100644
index 0000000..219abe6
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Float64MultiArray.h
@@ -0,0 +1,96 @@
+#ifndef _ROS_std_msgs_Float64MultiArray_h
+#define _ROS_std_msgs_Float64MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Float64MultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef double _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    Float64MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (double*)realloc(this->data, data_lengthT * sizeof(double));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Float64MultiArray"; };
+    const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Header.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Header.h
new file mode 100644
index 0000000..ce6bca4
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Header.h
@@ -0,0 +1,92 @@
+#ifndef _ROS_std_msgs_Header_h
+#define _ROS_std_msgs_Header_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace std_msgs
+{
+
+  class Header : public ros::Msg
+  {
+    public:
+      typedef uint32_t _seq_type;
+      _seq_type seq;
+      typedef ros::Time _stamp_type;
+      _stamp_type stamp;
+      typedef const char* _frame_id_type;
+      _frame_id_type frame_id;
+
+    Header():
+      seq(0),
+      stamp(),
+      frame_id("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->seq >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->seq >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->seq >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->seq >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->seq);
+      *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.sec);
+      *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_frame_id = strlen(this->frame_id);
+      varToArr(outbuffer + offset, length_frame_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->frame_id, length_frame_id);
+      offset += length_frame_id;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->seq =  ((uint32_t) (*(inbuffer + offset)));
+      this->seq |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->seq |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->seq |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->seq);
+      this->stamp.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.sec);
+      this->stamp.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_frame_id;
+      arrToVar(length_frame_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_frame_id-1]=0;
+      this->frame_id = (char *)(inbuffer + offset-1);
+      offset += length_frame_id;
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Header"; };
+    const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int16.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int16.h
new file mode 100644
index 0000000..8699431
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int16.h
@@ -0,0 +1,58 @@
+#ifndef _ROS_std_msgs_Int16_h
+#define _ROS_std_msgs_Int16_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Int16 : public ros::Msg
+  {
+    public:
+      typedef int16_t _data_type;
+      _data_type data;
+
+    Int16():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int16"; };
+    const char * getMD5(){ return "8524586e34fbd7cb1c08c5f5f1ca0e57"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int16MultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int16MultiArray.h
new file mode 100644
index 0000000..09a685a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int16MultiArray.h
@@ -0,0 +1,84 @@
+#ifndef _ROS_std_msgs_Int16MultiArray_h
+#define _ROS_std_msgs_Int16MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Int16MultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef int16_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    Int16MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (int16_t*)realloc(this->data, data_lengthT * sizeof(int16_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int16_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int16MultiArray"; };
+    const char * getMD5(){ return "d9338d7f523fcb692fae9d0a0e9f067c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int32.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int32.h
new file mode 100644
index 0000000..1f33bbd
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int32.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_std_msgs_Int32_h
+#define _ROS_std_msgs_Int32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Int32 : public ros::Msg
+  {
+    public:
+      typedef int32_t _data_type;
+      _data_type data;
+
+    Int32():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int32"; };
+    const char * getMD5(){ return "da5909fbe378aeaf85e547e830cc1bb7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int32MultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int32MultiArray.h
new file mode 100644
index 0000000..9dc349d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int32MultiArray.h
@@ -0,0 +1,88 @@
+#ifndef _ROS_std_msgs_Int32MultiArray_h
+#define _ROS_std_msgs_Int32MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Int32MultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef int32_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    Int32MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (int32_t*)realloc(this->data, data_lengthT * sizeof(int32_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int32MultiArray"; };
+    const char * getMD5(){ return "1d99f79f8b325b44fee908053e9c945b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int64.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int64.h
new file mode 100644
index 0000000..9edec3b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int64.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_std_msgs_Int64_h
+#define _ROS_std_msgs_Int64_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Int64 : public ros::Msg
+  {
+    public:
+      typedef int64_t _data_type;
+      _data_type data;
+
+    Int64():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int64"; };
+    const char * getMD5(){ return "34add168574510e6e17f5d23ecc077ef"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int64MultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int64MultiArray.h
new file mode 100644
index 0000000..7815756
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int64MultiArray.h
@@ -0,0 +1,96 @@
+#ifndef _ROS_std_msgs_Int64MultiArray_h
+#define _ROS_std_msgs_Int64MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Int64MultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef int64_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    Int64MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (int64_t*)realloc(this->data, data_lengthT * sizeof(int64_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int64_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int64MultiArray"; };
+    const char * getMD5(){ return "54865aa6c65be0448113a2afc6a49270"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int8.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int8.h
new file mode 100644
index 0000000..9509136
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int8.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_std_msgs_Int8_h
+#define _ROS_std_msgs_Int8_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Int8 : public ros::Msg
+  {
+    public:
+      typedef int8_t _data_type;
+      _data_type data;
+
+    Int8():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int8"; };
+    const char * getMD5(){ return "27ffa0c9c4b8fb8492252bcad9e5c57b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int8MultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int8MultiArray.h
new file mode 100644
index 0000000..38921a9
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Int8MultiArray.h
@@ -0,0 +1,82 @@
+#ifndef _ROS_std_msgs_Int8MultiArray_h
+#define _ROS_std_msgs_Int8MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Int8MultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef int8_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    Int8MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int8MultiArray"; };
+    const char * getMD5(){ return "d7c1af35a1b4781bbe79e03dd94b7c13"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/MultiArrayDimension.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/MultiArrayDimension.h
new file mode 100644
index 0000000..72cb416
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/MultiArrayDimension.h
@@ -0,0 +1,81 @@
+#ifndef _ROS_std_msgs_MultiArrayDimension_h
+#define _ROS_std_msgs_MultiArrayDimension_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class MultiArrayDimension : public ros::Msg
+  {
+    public:
+      typedef const char* _label_type;
+      _label_type label;
+      typedef uint32_t _size_type;
+      _size_type size;
+      typedef uint32_t _stride_type;
+      _stride_type stride;
+
+    MultiArrayDimension():
+      label(""),
+      size(0),
+      stride(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_label = strlen(this->label);
+      varToArr(outbuffer + offset, length_label);
+      offset += 4;
+      memcpy(outbuffer + offset, this->label, length_label);
+      offset += length_label;
+      *(outbuffer + offset + 0) = (this->size >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->size >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->size >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->size >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->size);
+      *(outbuffer + offset + 0) = (this->stride >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stride >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stride >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stride >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stride);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_label;
+      arrToVar(length_label, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_label; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_label-1]=0;
+      this->label = (char *)(inbuffer + offset-1);
+      offset += length_label;
+      this->size =  ((uint32_t) (*(inbuffer + offset)));
+      this->size |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->size |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->size |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->size);
+      this->stride =  ((uint32_t) (*(inbuffer + offset)));
+      this->stride |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stride |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stride |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stride);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/MultiArrayDimension"; };
+    const char * getMD5(){ return "4cd0c83a8683deae40ecdac60e53bfa8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/MultiArrayLayout.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/MultiArrayLayout.h
new file mode 100644
index 0000000..3cf3cfb
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/MultiArrayLayout.h
@@ -0,0 +1,77 @@
+#ifndef _ROS_std_msgs_MultiArrayLayout_h
+#define _ROS_std_msgs_MultiArrayLayout_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayDimension.h"
+
+namespace std_msgs
+{
+
+  class MultiArrayLayout : public ros::Msg
+  {
+    public:
+      uint32_t dim_length;
+      typedef std_msgs::MultiArrayDimension _dim_type;
+      _dim_type st_dim;
+      _dim_type * dim;
+      typedef uint32_t _data_offset_type;
+      _data_offset_type data_offset;
+
+    MultiArrayLayout():
+      dim_length(0), dim(NULL),
+      data_offset(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->dim_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->dim_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->dim_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->dim_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dim_length);
+      for( uint32_t i = 0; i < dim_length; i++){
+      offset += this->dim[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->data_offset >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_offset >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_offset >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_offset >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t dim_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      dim_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      dim_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      dim_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->dim_length);
+      if(dim_lengthT > dim_length)
+        this->dim = (std_msgs::MultiArrayDimension*)realloc(this->dim, dim_lengthT * sizeof(std_msgs::MultiArrayDimension));
+      dim_length = dim_lengthT;
+      for( uint32_t i = 0; i < dim_length; i++){
+      offset += this->st_dim.deserialize(inbuffer + offset);
+        memcpy( &(this->dim[i]), &(this->st_dim), sizeof(std_msgs::MultiArrayDimension));
+      }
+      this->data_offset =  ((uint32_t) (*(inbuffer + offset)));
+      this->data_offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data_offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data_offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data_offset);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/MultiArrayLayout"; };
+    const char * getMD5(){ return "0fed2a11c13e11c5571b4e2a995a91a3"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/String.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/String.h
new file mode 100644
index 0000000..92a7dea
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/String.h
@@ -0,0 +1,55 @@
+#ifndef _ROS_std_msgs_String_h
+#define _ROS_std_msgs_String_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class String : public ros::Msg
+  {
+    public:
+      typedef const char* _data_type;
+      _data_type data;
+
+    String():
+      data("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_data = strlen(this->data);
+      varToArr(outbuffer + offset, length_data);
+      offset += 4;
+      memcpy(outbuffer + offset, this->data, length_data);
+      offset += length_data;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_data;
+      arrToVar(length_data, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_data-1]=0;
+      this->data = (char *)(inbuffer + offset-1);
+      offset += length_data;
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/String"; };
+    const char * getMD5(){ return "992ce8a1687cec8c8bd883ec73ca41d1"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Time.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Time.h
new file mode 100644
index 0000000..2c2be67
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/Time.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_std_msgs_Time_h
+#define _ROS_std_msgs_Time_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace std_msgs
+{
+
+  class Time : public ros::Msg
+  {
+    public:
+      typedef ros::Time _data_type;
+      _data_type data;
+
+    Time():
+      data()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data.sec);
+      *(outbuffer + offset + 0) = (this->data.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data.sec);
+      this->data.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Time"; };
+    const char * getMD5(){ return "cd7166c74c552c311fbcc2fe5a7bc289"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt16.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt16.h
new file mode 100644
index 0000000..4da6884
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt16.h
@@ -0,0 +1,47 @@
+#ifndef _ROS_std_msgs_UInt16_h
+#define _ROS_std_msgs_UInt16_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class UInt16 : public ros::Msg
+  {
+    public:
+      typedef uint16_t _data_type;
+      _data_type data;
+
+    UInt16():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data =  ((uint16_t) (*(inbuffer + offset)));
+      this->data |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt16"; };
+    const char * getMD5(){ return "1df79edf208b629fe6b81923a544552d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt16MultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt16MultiArray.h
new file mode 100644
index 0000000..26c0e8f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt16MultiArray.h
@@ -0,0 +1,73 @@
+#ifndef _ROS_std_msgs_UInt16MultiArray_h
+#define _ROS_std_msgs_UInt16MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class UInt16MultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef uint16_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    UInt16MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data[i] >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (uint16_t*)realloc(this->data, data_lengthT * sizeof(uint16_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint16_t) (*(inbuffer + offset)));
+      this->st_data |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint16_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt16MultiArray"; };
+    const char * getMD5(){ return "52f264f1c973c4b73790d384c6cb4484"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt32.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt32.h
new file mode 100644
index 0000000..30ae02b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt32.h
@@ -0,0 +1,51 @@
+#ifndef _ROS_std_msgs_UInt32_h
+#define _ROS_std_msgs_UInt32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class UInt32 : public ros::Msg
+  {
+    public:
+      typedef uint32_t _data_type;
+      _data_type data;
+
+    UInt32():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data =  ((uint32_t) (*(inbuffer + offset)));
+      this->data |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt32"; };
+    const char * getMD5(){ return "304a39449588c7f8ce2df6e8001c5fce"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt32MultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt32MultiArray.h
new file mode 100644
index 0000000..af46e79
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt32MultiArray.h
@@ -0,0 +1,77 @@
+#ifndef _ROS_std_msgs_UInt32MultiArray_h
+#define _ROS_std_msgs_UInt32MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class UInt32MultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef uint32_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    UInt32MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data[i] >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data[i] >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data[i] >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (uint32_t*)realloc(this->data, data_lengthT * sizeof(uint32_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint32_t) (*(inbuffer + offset)));
+      this->st_data |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->st_data |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->st_data |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt32MultiArray"; };
+    const char * getMD5(){ return "4d6a180abc9be191b96a7eda6c8a233d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt64.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt64.h
new file mode 100644
index 0000000..b7ab02d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt64.h
@@ -0,0 +1,62 @@
+#ifndef _ROS_std_msgs_UInt64_h
+#define _ROS_std_msgs_UInt64_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class UInt64 : public ros::Msg
+  {
+    public:
+      typedef uint64_t _data_type;
+      _data_type data;
+
+    UInt64():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt64"; };
+    const char * getMD5(){ return "1b2a79973e8bf53d7b53acb71299cb57"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt64MultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt64MultiArray.h
new file mode 100644
index 0000000..4401271
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt64MultiArray.h
@@ -0,0 +1,88 @@
+#ifndef _ROS_std_msgs_UInt64MultiArray_h
+#define _ROS_std_msgs_UInt64MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class UInt64MultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef uint64_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    UInt64MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (uint64_t*)realloc(this->data, data_lengthT * sizeof(uint64_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint64_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt64MultiArray"; };
+    const char * getMD5(){ return "6088f127afb1d6c72927aa1247e945af"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt8.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt8.h
new file mode 100644
index 0000000..e41b04b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt8.h
@@ -0,0 +1,45 @@
+#ifndef _ROS_std_msgs_UInt8_h
+#define _ROS_std_msgs_UInt8_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class UInt8 : public ros::Msg
+  {
+    public:
+      typedef uint8_t _data_type;
+      _data_type data;
+
+    UInt8():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt8"; };
+    const char * getMD5(){ return "7c8164229e7d2c17eb95e9231617fdee"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt8MultiArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt8MultiArray.h
new file mode 100644
index 0000000..9ca2ac2
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_msgs/UInt8MultiArray.h
@@ -0,0 +1,71 @@
+#ifndef _ROS_std_msgs_UInt8MultiArray_h
+#define _ROS_std_msgs_UInt8MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class UInt8MultiArray : public ros::Msg
+  {
+    public:
+      typedef std_msgs::MultiArrayLayout _layout_type;
+      _layout_type layout;
+      uint32_t data_length;
+      typedef uint8_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    UInt8MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt8MultiArray"; };
+    const char * getMD5(){ return "82373f1612381bb6ee473b5cd6f5d89c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_srvs/Empty.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_srvs/Empty.h
new file mode 100644
index 0000000..b040dd2
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_srvs/Empty.h
@@ -0,0 +1,70 @@
+#ifndef _ROS_SERVICE_Empty_h
+#define _ROS_SERVICE_Empty_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_srvs
+{
+
+static const char EMPTY[] = "std_srvs/Empty";
+
+  class EmptyRequest : public ros::Msg
+  {
+    public:
+
+    EmptyRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return EMPTY; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class EmptyResponse : public ros::Msg
+  {
+    public:
+
+    EmptyResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return EMPTY; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class Empty {
+    public:
+    typedef EmptyRequest Request;
+    typedef EmptyResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_srvs/SetBool.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_srvs/SetBool.h
new file mode 100644
index 0000000..1feb34e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_srvs/SetBool.h
@@ -0,0 +1,123 @@
+#ifndef _ROS_SERVICE_SetBool_h
+#define _ROS_SERVICE_SetBool_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_srvs
+{
+
+static const char SETBOOL[] = "std_srvs/SetBool";
+
+  class SetBoolRequest : public ros::Msg
+  {
+    public:
+      typedef bool _data_type;
+      _data_type data;
+
+    SetBoolRequest():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return SETBOOL; };
+    const char * getMD5(){ return "8b94c1b53db61fb6aed406028ad6332a"; };
+
+  };
+
+  class SetBoolResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _message_type;
+      _message_type message;
+
+    SetBoolResponse():
+      success(0),
+      message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_message = strlen(this->message);
+      varToArr(outbuffer + offset, length_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->message, length_message);
+      offset += length_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_message;
+      arrToVar(length_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_message-1]=0;
+      this->message = (char *)(inbuffer + offset-1);
+      offset += length_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETBOOL; };
+    const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
+
+  };
+
+  class SetBool {
+    public:
+    typedef SetBoolRequest Request;
+    typedef SetBoolResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_srvs/Trigger.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_srvs/Trigger.h
new file mode 100644
index 0000000..34d1e48
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/std_srvs/Trigger.h
@@ -0,0 +1,105 @@
+#ifndef _ROS_SERVICE_Trigger_h
+#define _ROS_SERVICE_Trigger_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_srvs
+{
+
+static const char TRIGGER[] = "std_srvs/Trigger";
+
+  class TriggerRequest : public ros::Msg
+  {
+    public:
+
+    TriggerRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return TRIGGER; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class TriggerResponse : public ros::Msg
+  {
+    public:
+      typedef bool _success_type;
+      _success_type success;
+      typedef const char* _message_type;
+      _message_type message;
+
+    TriggerResponse():
+      success(0),
+      message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_message = strlen(this->message);
+      varToArr(outbuffer + offset, length_message);
+      offset += 4;
+      memcpy(outbuffer + offset, this->message, length_message);
+      offset += length_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_message;
+      arrToVar(length_message, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_message-1]=0;
+      this->message = (char *)(inbuffer + offset-1);
+      offset += length_message;
+     return offset;
+    }
+
+    const char * getType(){ return TRIGGER; };
+    const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
+
+  };
+
+  class Trigger {
+    public:
+    typedef TriggerRequest Request;
+    typedef TriggerResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/stereo_msgs/DisparityImage.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/stereo_msgs/DisparityImage.h
new file mode 100644
index 0000000..90b3f28
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/stereo_msgs/DisparityImage.h
@@ -0,0 +1,176 @@
+#ifndef _ROS_stereo_msgs_DisparityImage_h
+#define _ROS_stereo_msgs_DisparityImage_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/RegionOfInterest.h"
+
+namespace stereo_msgs
+{
+
+  class DisparityImage : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef sensor_msgs::Image _image_type;
+      _image_type image;
+      typedef float _f_type;
+      _f_type f;
+      typedef float _T_type;
+      _T_type T;
+      typedef sensor_msgs::RegionOfInterest _valid_window_type;
+      _valid_window_type valid_window;
+      typedef float _min_disparity_type;
+      _min_disparity_type min_disparity;
+      typedef float _max_disparity_type;
+      _max_disparity_type max_disparity;
+      typedef float _delta_d_type;
+      _delta_d_type delta_d;
+
+    DisparityImage():
+      header(),
+      image(),
+      f(0),
+      T(0),
+      valid_window(),
+      min_disparity(0),
+      max_disparity(0),
+      delta_d(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->image.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_f;
+      u_f.real = this->f;
+      *(outbuffer + offset + 0) = (u_f.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_f.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_f.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_f.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->f);
+      union {
+        float real;
+        uint32_t base;
+      } u_T;
+      u_T.real = this->T;
+      *(outbuffer + offset + 0) = (u_T.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_T.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_T.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_T.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->T);
+      offset += this->valid_window.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_min_disparity;
+      u_min_disparity.real = this->min_disparity;
+      *(outbuffer + offset + 0) = (u_min_disparity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_min_disparity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_min_disparity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_min_disparity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_disparity);
+      union {
+        float real;
+        uint32_t base;
+      } u_max_disparity;
+      u_max_disparity.real = this->max_disparity;
+      *(outbuffer + offset + 0) = (u_max_disparity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_disparity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_disparity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_disparity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->max_disparity);
+      union {
+        float real;
+        uint32_t base;
+      } u_delta_d;
+      u_delta_d.real = this->delta_d;
+      *(outbuffer + offset + 0) = (u_delta_d.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_delta_d.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_delta_d.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_delta_d.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delta_d);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->image.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_f;
+      u_f.base = 0;
+      u_f.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_f.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_f.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_f.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->f = u_f.real;
+      offset += sizeof(this->f);
+      union {
+        float real;
+        uint32_t base;
+      } u_T;
+      u_T.base = 0;
+      u_T.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_T.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_T.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_T.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->T = u_T.real;
+      offset += sizeof(this->T);
+      offset += this->valid_window.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_min_disparity;
+      u_min_disparity.base = 0;
+      u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->min_disparity = u_min_disparity.real;
+      offset += sizeof(this->min_disparity);
+      union {
+        float real;
+        uint32_t base;
+      } u_max_disparity;
+      u_max_disparity.base = 0;
+      u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->max_disparity = u_max_disparity.real;
+      offset += sizeof(this->max_disparity);
+      union {
+        float real;
+        uint32_t base;
+      } u_delta_d;
+      u_delta_d.base = 0;
+      u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->delta_d = u_delta_d.real;
+      offset += sizeof(this->delta_d);
+     return offset;
+    }
+
+    const char * getType(){ return "stereo_msgs/DisparityImage"; };
+    const char * getMD5(){ return "04a177815f75271039fa21f16acad8c9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/FrameGraph.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/FrameGraph.h
new file mode 100644
index 0000000..e95a945
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/FrameGraph.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_FrameGraph_h
+#define _ROS_SERVICE_FrameGraph_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace tf
+{
+
+static const char FRAMEGRAPH[] = "tf/FrameGraph";
+
+  class FrameGraphRequest : public ros::Msg
+  {
+    public:
+
+    FrameGraphRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return FRAMEGRAPH; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class FrameGraphResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _dot_graph_type;
+      _dot_graph_type dot_graph;
+
+    FrameGraphResponse():
+      dot_graph("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_dot_graph = strlen(this->dot_graph);
+      varToArr(outbuffer + offset, length_dot_graph);
+      offset += 4;
+      memcpy(outbuffer + offset, this->dot_graph, length_dot_graph);
+      offset += length_dot_graph;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_dot_graph;
+      arrToVar(length_dot_graph, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_dot_graph-1]=0;
+      this->dot_graph = (char *)(inbuffer + offset-1);
+      offset += length_dot_graph;
+     return offset;
+    }
+
+    const char * getType(){ return FRAMEGRAPH; };
+    const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
+
+  };
+
+  class FrameGraph {
+    public:
+    typedef FrameGraphRequest Request;
+    typedef FrameGraphResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/tf.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/tf.h
new file mode 100644
index 0000000..97858fe
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/tf.h
@@ -0,0 +1,56 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_TF_H_
+#define ROS_TF_H_
+
+#include "geometry_msgs/TransformStamped.h"
+
+namespace tf
+{
+
+static inline geometry_msgs::Quaternion createQuaternionFromYaw(double yaw)
+{
+  geometry_msgs::Quaternion q;
+  q.x = 0;
+  q.y = 0;
+  q.z = sin(yaw * 0.5);
+  q.w = cos(yaw * 0.5);
+  return q;
+}
+
+}
+
+#endif
+
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/tfMessage.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/tfMessage.h
new file mode 100644
index 0000000..4c0b04a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/tfMessage.h
@@ -0,0 +1,64 @@
+#ifndef _ROS_tf_tfMessage_h
+#define _ROS_tf_tfMessage_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/TransformStamped.h"
+
+namespace tf
+{
+
+  class tfMessage : public ros::Msg
+  {
+    public:
+      uint32_t transforms_length;
+      typedef geometry_msgs::TransformStamped _transforms_type;
+      _transforms_type st_transforms;
+      _transforms_type * transforms;
+
+    tfMessage():
+      transforms_length(0), transforms(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->transforms_length);
+      for( uint32_t i = 0; i < transforms_length; i++){
+      offset += this->transforms[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->transforms_length);
+      if(transforms_lengthT > transforms_length)
+        this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
+      transforms_length = transforms_lengthT;
+      for( uint32_t i = 0; i < transforms_length; i++){
+      offset += this->st_transforms.deserialize(inbuffer + offset);
+        memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "tf/tfMessage"; };
+    const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/transform_broadcaster.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/transform_broadcaster.h
new file mode 100644
index 0000000..6c4e5fe
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf/transform_broadcaster.h
@@ -0,0 +1,69 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_TRANSFORM_BROADCASTER_H_
+#define ROS_TRANSFORM_BROADCASTER_H_
+
+#include "ros.h"
+#include "tfMessage.h"
+
+namespace tf
+{
+
+class TransformBroadcaster
+{
+public:
+  TransformBroadcaster() : publisher_("/tf", &internal_msg) {}
+
+  void init(ros::NodeHandle &nh)
+  {
+    nh.advertise(publisher_);
+  }
+
+  void sendTransform(geometry_msgs::TransformStamped &transform)
+  {
+    internal_msg.transforms_length = 1;
+    internal_msg.transforms = &transform;
+    publisher_.publish(&internal_msg);
+  }
+
+private:
+  tf::tfMessage internal_msg;
+  ros::Publisher publisher_;
+};
+
+}
+
+#endif
+
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/FrameGraph.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/FrameGraph.h
new file mode 100644
index 0000000..9145639
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/FrameGraph.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_FrameGraph_h
+#define _ROS_SERVICE_FrameGraph_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace tf2_msgs
+{
+
+static const char FRAMEGRAPH[] = "tf2_msgs/FrameGraph";
+
+  class FrameGraphRequest : public ros::Msg
+  {
+    public:
+
+    FrameGraphRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return FRAMEGRAPH; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class FrameGraphResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _frame_yaml_type;
+      _frame_yaml_type frame_yaml;
+
+    FrameGraphResponse():
+      frame_yaml("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_frame_yaml = strlen(this->frame_yaml);
+      varToArr(outbuffer + offset, length_frame_yaml);
+      offset += 4;
+      memcpy(outbuffer + offset, this->frame_yaml, length_frame_yaml);
+      offset += length_frame_yaml;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_frame_yaml;
+      arrToVar(length_frame_yaml, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_frame_yaml; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_frame_yaml-1]=0;
+      this->frame_yaml = (char *)(inbuffer + offset-1);
+      offset += length_frame_yaml;
+     return offset;
+    }
+
+    const char * getType(){ return FRAMEGRAPH; };
+    const char * getMD5(){ return "437ea58e9463815a0d511c7326b686b0"; };
+
+  };
+
+  class FrameGraph {
+    public:
+    typedef FrameGraphRequest Request;
+    typedef FrameGraphResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformAction.h
new file mode 100644
index 0000000..733d095
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_tf2_msgs_LookupTransformAction_h
+#define _ROS_tf2_msgs_LookupTransformAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "tf2_msgs/LookupTransformActionGoal.h"
+#include "tf2_msgs/LookupTransformActionResult.h"
+#include "tf2_msgs/LookupTransformActionFeedback.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformAction : public ros::Msg
+  {
+    public:
+      typedef tf2_msgs::LookupTransformActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef tf2_msgs::LookupTransformActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef tf2_msgs::LookupTransformActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    LookupTransformAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformAction"; };
+    const char * getMD5(){ return "7ee01ba91a56c2245c610992dbaa3c37"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformActionFeedback.h
new file mode 100644
index 0000000..39bd3b4
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_tf2_msgs_LookupTransformActionFeedback_h
+#define _ROS_tf2_msgs_LookupTransformActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "tf2_msgs/LookupTransformFeedback.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef tf2_msgs::LookupTransformFeedback _feedback_type;
+      _feedback_type feedback;
+
+    LookupTransformActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformActionGoal.h
new file mode 100644
index 0000000..92bc163
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_tf2_msgs_LookupTransformActionGoal_h
+#define _ROS_tf2_msgs_LookupTransformActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "tf2_msgs/LookupTransformGoal.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef tf2_msgs::LookupTransformGoal _goal_type;
+      _goal_type goal;
+
+    LookupTransformActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformActionGoal"; };
+    const char * getMD5(){ return "f2e7bcdb75c847978d0351a13e699da5"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformActionResult.h
new file mode 100644
index 0000000..38a98bd
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_tf2_msgs_LookupTransformActionResult_h
+#define _ROS_tf2_msgs_LookupTransformActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "tf2_msgs/LookupTransformResult.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef tf2_msgs::LookupTransformResult _result_type;
+      _result_type result;
+
+    LookupTransformActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformActionResult"; };
+    const char * getMD5(){ return "ac26ce75a41384fa8bb4dc10f491ab90"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformFeedback.h
new file mode 100644
index 0000000..6be0748
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformFeedback.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_tf2_msgs_LookupTransformFeedback_h
+#define _ROS_tf2_msgs_LookupTransformFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformFeedback : public ros::Msg
+  {
+    public:
+
+    LookupTransformFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformGoal.h
new file mode 100644
index 0000000..87a79ee
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformGoal.h
@@ -0,0 +1,178 @@
+#ifndef _ROS_tf2_msgs_LookupTransformGoal_h
+#define _ROS_tf2_msgs_LookupTransformGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+#include "ros/duration.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformGoal : public ros::Msg
+  {
+    public:
+      typedef const char* _target_frame_type;
+      _target_frame_type target_frame;
+      typedef const char* _source_frame_type;
+      _source_frame_type source_frame;
+      typedef ros::Time _source_time_type;
+      _source_time_type source_time;
+      typedef ros::Duration _timeout_type;
+      _timeout_type timeout;
+      typedef ros::Time _target_time_type;
+      _target_time_type target_time;
+      typedef const char* _fixed_frame_type;
+      _fixed_frame_type fixed_frame;
+      typedef bool _advanced_type;
+      _advanced_type advanced;
+
+    LookupTransformGoal():
+      target_frame(""),
+      source_frame(""),
+      source_time(),
+      timeout(),
+      target_time(),
+      fixed_frame(""),
+      advanced(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_target_frame = strlen(this->target_frame);
+      varToArr(outbuffer + offset, length_target_frame);
+      offset += 4;
+      memcpy(outbuffer + offset, this->target_frame, length_target_frame);
+      offset += length_target_frame;
+      uint32_t length_source_frame = strlen(this->source_frame);
+      varToArr(outbuffer + offset, length_source_frame);
+      offset += 4;
+      memcpy(outbuffer + offset, this->source_frame, length_source_frame);
+      offset += length_source_frame;
+      *(outbuffer + offset + 0) = (this->source_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->source_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->source_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->source_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->source_time.sec);
+      *(outbuffer + offset + 0) = (this->source_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->source_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->source_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->source_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->source_time.nsec);
+      *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timeout.sec);
+      *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timeout.nsec);
+      *(outbuffer + offset + 0) = (this->target_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->target_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->target_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->target_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->target_time.sec);
+      *(outbuffer + offset + 0) = (this->target_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->target_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->target_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->target_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->target_time.nsec);
+      uint32_t length_fixed_frame = strlen(this->fixed_frame);
+      varToArr(outbuffer + offset, length_fixed_frame);
+      offset += 4;
+      memcpy(outbuffer + offset, this->fixed_frame, length_fixed_frame);
+      offset += length_fixed_frame;
+      union {
+        bool real;
+        uint8_t base;
+      } u_advanced;
+      u_advanced.real = this->advanced;
+      *(outbuffer + offset + 0) = (u_advanced.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->advanced);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_target_frame;
+      arrToVar(length_target_frame, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_target_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_target_frame-1]=0;
+      this->target_frame = (char *)(inbuffer + offset-1);
+      offset += length_target_frame;
+      uint32_t length_source_frame;
+      arrToVar(length_source_frame, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_source_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_source_frame-1]=0;
+      this->source_frame = (char *)(inbuffer + offset-1);
+      offset += length_source_frame;
+      this->source_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->source_time.sec);
+      this->source_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->source_time.nsec);
+      this->timeout.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timeout.sec);
+      this->timeout.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timeout.nsec);
+      this->target_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->target_time.sec);
+      this->target_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->target_time.nsec);
+      uint32_t length_fixed_frame;
+      arrToVar(length_fixed_frame, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_fixed_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_fixed_frame-1]=0;
+      this->fixed_frame = (char *)(inbuffer + offset-1);
+      offset += length_fixed_frame;
+      union {
+        bool real;
+        uint8_t base;
+      } u_advanced;
+      u_advanced.base = 0;
+      u_advanced.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->advanced = u_advanced.real;
+      offset += sizeof(this->advanced);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformGoal"; };
+    const char * getMD5(){ return "35e3720468131d675a18bb6f3e5f22f8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformResult.h
new file mode 100644
index 0000000..5422d7e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/LookupTransformResult.h
@@ -0,0 +1,50 @@
+#ifndef _ROS_tf2_msgs_LookupTransformResult_h
+#define _ROS_tf2_msgs_LookupTransformResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/TransformStamped.h"
+#include "tf2_msgs/TF2Error.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformResult : public ros::Msg
+  {
+    public:
+      typedef geometry_msgs::TransformStamped _transform_type;
+      _transform_type transform;
+      typedef tf2_msgs::TF2Error _error_type;
+      _error_type error;
+
+    LookupTransformResult():
+      transform(),
+      error()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->transform.serialize(outbuffer + offset);
+      offset += this->error.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->transform.deserialize(inbuffer + offset);
+      offset += this->error.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformResult"; };
+    const char * getMD5(){ return "3fe5db6a19ca9cfb675418c5ad875c36"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/TF2Error.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/TF2Error.h
new file mode 100644
index 0000000..e6efdce
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/TF2Error.h
@@ -0,0 +1,69 @@
+#ifndef _ROS_tf2_msgs_TF2Error_h
+#define _ROS_tf2_msgs_TF2Error_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace tf2_msgs
+{
+
+  class TF2Error : public ros::Msg
+  {
+    public:
+      typedef uint8_t _error_type;
+      _error_type error;
+      typedef const char* _error_string_type;
+      _error_string_type error_string;
+      enum { NO_ERROR =  0 };
+      enum { LOOKUP_ERROR =  1 };
+      enum { CONNECTIVITY_ERROR =  2 };
+      enum { EXTRAPOLATION_ERROR =  3 };
+      enum { INVALID_ARGUMENT_ERROR =  4 };
+      enum { TIMEOUT_ERROR =  5 };
+      enum { TRANSFORM_ERROR =  6 };
+
+    TF2Error():
+      error(0),
+      error_string("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->error >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->error);
+      uint32_t length_error_string = strlen(this->error_string);
+      varToArr(outbuffer + offset, length_error_string);
+      offset += 4;
+      memcpy(outbuffer + offset, this->error_string, length_error_string);
+      offset += length_error_string;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->error =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->error);
+      uint32_t length_error_string;
+      arrToVar(length_error_string, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_error_string; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_error_string-1]=0;
+      this->error_string = (char *)(inbuffer + offset-1);
+      offset += length_error_string;
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/TF2Error"; };
+    const char * getMD5(){ return "bc6848fd6fd750c92e38575618a4917d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/TFMessage.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/TFMessage.h
new file mode 100644
index 0000000..fd8ff10
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/tf2_msgs/TFMessage.h
@@ -0,0 +1,64 @@
+#ifndef _ROS_tf2_msgs_TFMessage_h
+#define _ROS_tf2_msgs_TFMessage_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/TransformStamped.h"
+
+namespace tf2_msgs
+{
+
+  class TFMessage : public ros::Msg
+  {
+    public:
+      uint32_t transforms_length;
+      typedef geometry_msgs::TransformStamped _transforms_type;
+      _transforms_type st_transforms;
+      _transforms_type * transforms;
+
+    TFMessage():
+      transforms_length(0), transforms(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->transforms_length);
+      for( uint32_t i = 0; i < transforms_length; i++){
+      offset += this->transforms[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->transforms_length);
+      if(transforms_lengthT > transforms_length)
+        this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
+      transforms_length = transforms_lengthT;
+      for( uint32_t i = 0; i < transforms_length; i++){
+      offset += this->st_transforms.deserialize(inbuffer + offset);
+        memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/TFMessage"; };
+    const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/time.cpp b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/time.cpp
new file mode 100644
index 0000000..86221f9
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/time.cpp
@@ -0,0 +1,70 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "ros/time.h"
+
+namespace ros
+{
+void normalizeSecNSec(uint32_t& sec, uint32_t& nsec)
+{
+  uint32_t nsec_part = nsec % 1000000000UL;
+  uint32_t sec_part = nsec / 1000000000UL;
+  sec += sec_part;
+  nsec = nsec_part;
+}
+
+Time& Time::fromNSec(int32_t t)
+{
+  sec = t / 1000000000;
+  nsec = t % 1000000000;
+  normalizeSecNSec(sec, nsec);
+  return *this;
+}
+
+Time& Time::operator +=(const Duration &rhs)
+{
+  sec += rhs.sec;
+  nsec += rhs.nsec;
+  normalizeSecNSec(sec, nsec);
+  return *this;
+}
+
+Time& Time::operator -=(const Duration &rhs)
+{
+  sec += -rhs.sec;
+  nsec += -rhs.nsec;
+  normalizeSecNSec(sec, nsec);
+  return *this;
+}
+}
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxAdd.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxAdd.h
new file mode 100644
index 0000000..d8016c6
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxAdd.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_DemuxAdd_h
+#define _ROS_SERVICE_DemuxAdd_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char DEMUXADD[] = "topic_tools/DemuxAdd";
+
+  class DemuxAddRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _topic_type;
+      _topic_type topic;
+
+    DemuxAddRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      varToArr(outbuffer + offset, length_topic);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      arrToVar(length_topic, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXADD; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class DemuxAddResponse : public ros::Msg
+  {
+    public:
+
+    DemuxAddResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXADD; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class DemuxAdd {
+    public:
+    typedef DemuxAddRequest Request;
+    typedef DemuxAddResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxDelete.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxDelete.h
new file mode 100644
index 0000000..3f030aa
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxDelete.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_DemuxDelete_h
+#define _ROS_SERVICE_DemuxDelete_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char DEMUXDELETE[] = "topic_tools/DemuxDelete";
+
+  class DemuxDeleteRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _topic_type;
+      _topic_type topic;
+
+    DemuxDeleteRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      varToArr(outbuffer + offset, length_topic);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      arrToVar(length_topic, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXDELETE; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class DemuxDeleteResponse : public ros::Msg
+  {
+    public:
+
+    DemuxDeleteResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXDELETE; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class DemuxDelete {
+    public:
+    typedef DemuxDeleteRequest Request;
+    typedef DemuxDeleteResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxList.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxList.h
new file mode 100644
index 0000000..0553329
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxList.h
@@ -0,0 +1,107 @@
+#ifndef _ROS_SERVICE_DemuxList_h
+#define _ROS_SERVICE_DemuxList_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char DEMUXLIST[] = "topic_tools/DemuxList";
+
+  class DemuxListRequest : public ros::Msg
+  {
+    public:
+
+    DemuxListRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXLIST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class DemuxListResponse : public ros::Msg
+  {
+    public:
+      uint32_t topics_length;
+      typedef char* _topics_type;
+      _topics_type st_topics;
+      _topics_type * topics;
+
+    DemuxListResponse():
+      topics_length(0), topics(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->topics_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->topics_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->topics_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->topics_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->topics_length);
+      for( uint32_t i = 0; i < topics_length; i++){
+      uint32_t length_topicsi = strlen(this->topics[i]);
+      varToArr(outbuffer + offset, length_topicsi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topics[i], length_topicsi);
+      offset += length_topicsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t topics_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->topics_length);
+      if(topics_lengthT > topics_length)
+        this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
+      topics_length = topics_lengthT;
+      for( uint32_t i = 0; i < topics_length; i++){
+      uint32_t length_st_topics;
+      arrToVar(length_st_topics, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_topics; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_topics-1]=0;
+      this->st_topics = (char *)(inbuffer + offset-1);
+      offset += length_st_topics;
+        memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXLIST; };
+    const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; };
+
+  };
+
+  class DemuxList {
+    public:
+    typedef DemuxListRequest Request;
+    typedef DemuxListResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxSelect.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxSelect.h
new file mode 100644
index 0000000..17a6d9b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/DemuxSelect.h
@@ -0,0 +1,104 @@
+#ifndef _ROS_SERVICE_DemuxSelect_h
+#define _ROS_SERVICE_DemuxSelect_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char DEMUXSELECT[] = "topic_tools/DemuxSelect";
+
+  class DemuxSelectRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _topic_type;
+      _topic_type topic;
+
+    DemuxSelectRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      varToArr(outbuffer + offset, length_topic);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      arrToVar(length_topic, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXSELECT; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class DemuxSelectResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _prev_topic_type;
+      _prev_topic_type prev_topic;
+
+    DemuxSelectResponse():
+      prev_topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_prev_topic = strlen(this->prev_topic);
+      varToArr(outbuffer + offset, length_prev_topic);
+      offset += 4;
+      memcpy(outbuffer + offset, this->prev_topic, length_prev_topic);
+      offset += length_prev_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_prev_topic;
+      arrToVar(length_prev_topic, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_prev_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_prev_topic-1]=0;
+      this->prev_topic = (char *)(inbuffer + offset-1);
+      offset += length_prev_topic;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXSELECT; };
+    const char * getMD5(){ return "3db0a473debdbafea387c9e49358c320"; };
+
+  };
+
+  class DemuxSelect {
+    public:
+    typedef DemuxSelectRequest Request;
+    typedef DemuxSelectResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxAdd.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxAdd.h
new file mode 100644
index 0000000..25a649a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxAdd.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_MuxAdd_h
+#define _ROS_SERVICE_MuxAdd_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char MUXADD[] = "topic_tools/MuxAdd";
+
+  class MuxAddRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _topic_type;
+      _topic_type topic;
+
+    MuxAddRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      varToArr(outbuffer + offset, length_topic);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      arrToVar(length_topic, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return MUXADD; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class MuxAddResponse : public ros::Msg
+  {
+    public:
+
+    MuxAddResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return MUXADD; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class MuxAdd {
+    public:
+    typedef MuxAddRequest Request;
+    typedef MuxAddResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxDelete.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxDelete.h
new file mode 100644
index 0000000..3672ad5
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxDelete.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_MuxDelete_h
+#define _ROS_SERVICE_MuxDelete_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char MUXDELETE[] = "topic_tools/MuxDelete";
+
+  class MuxDeleteRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _topic_type;
+      _topic_type topic;
+
+    MuxDeleteRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      varToArr(outbuffer + offset, length_topic);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      arrToVar(length_topic, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return MUXDELETE; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class MuxDeleteResponse : public ros::Msg
+  {
+    public:
+
+    MuxDeleteResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return MUXDELETE; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class MuxDelete {
+    public:
+    typedef MuxDeleteRequest Request;
+    typedef MuxDeleteResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxList.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxList.h
new file mode 100644
index 0000000..5d7936d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxList.h
@@ -0,0 +1,107 @@
+#ifndef _ROS_SERVICE_MuxList_h
+#define _ROS_SERVICE_MuxList_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char MUXLIST[] = "topic_tools/MuxList";
+
+  class MuxListRequest : public ros::Msg
+  {
+    public:
+
+    MuxListRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return MUXLIST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class MuxListResponse : public ros::Msg
+  {
+    public:
+      uint32_t topics_length;
+      typedef char* _topics_type;
+      _topics_type st_topics;
+      _topics_type * topics;
+
+    MuxListResponse():
+      topics_length(0), topics(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->topics_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->topics_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->topics_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->topics_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->topics_length);
+      for( uint32_t i = 0; i < topics_length; i++){
+      uint32_t length_topicsi = strlen(this->topics[i]);
+      varToArr(outbuffer + offset, length_topicsi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topics[i], length_topicsi);
+      offset += length_topicsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t topics_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      topics_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->topics_length);
+      if(topics_lengthT > topics_length)
+        this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
+      topics_length = topics_lengthT;
+      for( uint32_t i = 0; i < topics_length; i++){
+      uint32_t length_st_topics;
+      arrToVar(length_st_topics, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_topics; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_topics-1]=0;
+      this->st_topics = (char *)(inbuffer + offset-1);
+      offset += length_st_topics;
+        memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return MUXLIST; };
+    const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; };
+
+  };
+
+  class MuxList {
+    public:
+    typedef MuxListRequest Request;
+    typedef MuxListResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxSelect.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxSelect.h
new file mode 100644
index 0000000..67324a8
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/topic_tools/MuxSelect.h
@@ -0,0 +1,104 @@
+#ifndef _ROS_SERVICE_MuxSelect_h
+#define _ROS_SERVICE_MuxSelect_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char MUXSELECT[] = "topic_tools/MuxSelect";
+
+  class MuxSelectRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _topic_type;
+      _topic_type topic;
+
+    MuxSelectRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      varToArr(outbuffer + offset, length_topic);
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      arrToVar(length_topic, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return MUXSELECT; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class MuxSelectResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _prev_topic_type;
+      _prev_topic_type prev_topic;
+
+    MuxSelectResponse():
+      prev_topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_prev_topic = strlen(this->prev_topic);
+      varToArr(outbuffer + offset, length_prev_topic);
+      offset += 4;
+      memcpy(outbuffer + offset, this->prev_topic, length_prev_topic);
+      offset += length_prev_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_prev_topic;
+      arrToVar(length_prev_topic, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_prev_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_prev_topic-1]=0;
+      this->prev_topic = (char *)(inbuffer + offset-1);
+      offset += length_prev_topic;
+     return offset;
+    }
+
+    const char * getType(){ return MUXSELECT; };
+    const char * getMD5(){ return "3db0a473debdbafea387c9e49358c320"; };
+
+  };
+
+  class MuxSelect {
+    public:
+    typedef MuxSelectRequest Request;
+    typedef MuxSelectResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/JointTrajectory.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/JointTrajectory.h
new file mode 100644
index 0000000..f03d537
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/JointTrajectory.h
@@ -0,0 +1,107 @@
+#ifndef _ROS_trajectory_msgs_JointTrajectory_h
+#define _ROS_trajectory_msgs_JointTrajectory_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "trajectory_msgs/JointTrajectoryPoint.h"
+
+namespace trajectory_msgs
+{
+
+  class JointTrajectory : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t joint_names_length;
+      typedef char* _joint_names_type;
+      _joint_names_type st_joint_names;
+      _joint_names_type * joint_names;
+      uint32_t points_length;
+      typedef trajectory_msgs::JointTrajectoryPoint _points_type;
+      _points_type st_points;
+      _points_type * points;
+
+    JointTrajectory():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      points_length(0), points(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->joint_names_length);
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      varToArr(outbuffer + offset, length_joint_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->points_length);
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->joint_names_length);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      joint_names_length = joint_names_lengthT;
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      arrToVar(length_st_joint_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->points_length);
+      if(points_lengthT > points_length)
+        this->points = (trajectory_msgs::JointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::JointTrajectoryPoint));
+      points_length = points_lengthT;
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::JointTrajectoryPoint));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "trajectory_msgs/JointTrajectory"; };
+    const char * getMD5(){ return "65b4f94a94d1ed67169da35a02f33d3f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/JointTrajectoryPoint.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/JointTrajectoryPoint.h
new file mode 100644
index 0000000..dac669b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/JointTrajectoryPoint.h
@@ -0,0 +1,270 @@
+#ifndef _ROS_trajectory_msgs_JointTrajectoryPoint_h
+#define _ROS_trajectory_msgs_JointTrajectoryPoint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace trajectory_msgs
+{
+
+  class JointTrajectoryPoint : public ros::Msg
+  {
+    public:
+      uint32_t positions_length;
+      typedef double _positions_type;
+      _positions_type st_positions;
+      _positions_type * positions;
+      uint32_t velocities_length;
+      typedef double _velocities_type;
+      _velocities_type st_velocities;
+      _velocities_type * velocities;
+      uint32_t accelerations_length;
+      typedef double _accelerations_type;
+      _accelerations_type st_accelerations;
+      _accelerations_type * accelerations;
+      uint32_t effort_length;
+      typedef double _effort_type;
+      _effort_type st_effort;
+      _effort_type * effort;
+      typedef ros::Duration _time_from_start_type;
+      _time_from_start_type time_from_start;
+
+    JointTrajectoryPoint():
+      positions_length(0), positions(NULL),
+      velocities_length(0), velocities(NULL),
+      accelerations_length(0), accelerations(NULL),
+      effort_length(0), effort(NULL),
+      time_from_start()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->positions_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->positions_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->positions_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->positions_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->positions_length);
+      for( uint32_t i = 0; i < positions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positionsi;
+      u_positionsi.real = this->positions[i];
+      *(outbuffer + offset + 0) = (u_positionsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positionsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positionsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positionsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positionsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positionsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positionsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positionsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->positions[i]);
+      }
+      *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->velocities_length);
+      for( uint32_t i = 0; i < velocities_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_velocitiesi;
+      u_velocitiesi.real = this->velocities[i];
+      *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocities[i]);
+      }
+      *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->accelerations_length);
+      for( uint32_t i = 0; i < accelerations_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_accelerationsi;
+      u_accelerationsi.real = this->accelerations[i];
+      *(outbuffer + offset + 0) = (u_accelerationsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_accelerationsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_accelerationsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_accelerationsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_accelerationsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_accelerationsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_accelerationsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_accelerationsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->accelerations[i]);
+      }
+      *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->effort_length);
+      for( uint32_t i = 0; i < effort_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_efforti;
+      u_efforti.real = this->effort[i];
+      *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->effort[i]);
+      }
+      *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.sec);
+      *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t positions_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->positions_length);
+      if(positions_lengthT > positions_length)
+        this->positions = (double*)realloc(this->positions, positions_lengthT * sizeof(double));
+      positions_length = positions_lengthT;
+      for( uint32_t i = 0; i < positions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_positions;
+      u_st_positions.base = 0;
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_positions = u_st_positions.real;
+      offset += sizeof(this->st_positions);
+        memcpy( &(this->positions[i]), &(this->st_positions), sizeof(double));
+      }
+      uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->velocities_length);
+      if(velocities_lengthT > velocities_length)
+        this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double));
+      velocities_length = velocities_lengthT;
+      for( uint32_t i = 0; i < velocities_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_velocities;
+      u_st_velocities.base = 0;
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_velocities = u_st_velocities.real;
+      offset += sizeof(this->st_velocities);
+        memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double));
+      }
+      uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->accelerations_length);
+      if(accelerations_lengthT > accelerations_length)
+        this->accelerations = (double*)realloc(this->accelerations, accelerations_lengthT * sizeof(double));
+      accelerations_length = accelerations_lengthT;
+      for( uint32_t i = 0; i < accelerations_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_accelerations;
+      u_st_accelerations.base = 0;
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_accelerations = u_st_accelerations.real;
+      offset += sizeof(this->st_accelerations);
+        memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(double));
+      }
+      uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->effort_length);
+      if(effort_lengthT > effort_length)
+        this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
+      effort_length = effort_lengthT;
+      for( uint32_t i = 0; i < effort_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_effort;
+      u_st_effort.base = 0;
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_effort = u_st_effort.real;
+      offset += sizeof(this->st_effort);
+        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
+      }
+      this->time_from_start.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.sec);
+      this->time_from_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "trajectory_msgs/JointTrajectoryPoint"; };
+    const char * getMD5(){ return "f3cd1e1c4d320c79d6985c904ae5dcd3"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/MultiDOFJointTrajectory.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/MultiDOFJointTrajectory.h
new file mode 100644
index 0000000..2ab653c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/MultiDOFJointTrajectory.h
@@ -0,0 +1,107 @@
+#ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectory_h
+#define _ROS_trajectory_msgs_MultiDOFJointTrajectory_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "trajectory_msgs/MultiDOFJointTrajectoryPoint.h"
+
+namespace trajectory_msgs
+{
+
+  class MultiDOFJointTrajectory : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      uint32_t joint_names_length;
+      typedef char* _joint_names_type;
+      _joint_names_type st_joint_names;
+      _joint_names_type * joint_names;
+      uint32_t points_length;
+      typedef trajectory_msgs::MultiDOFJointTrajectoryPoint _points_type;
+      _points_type st_points;
+      _points_type * points;
+
+    MultiDOFJointTrajectory():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      points_length(0), points(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->joint_names_length);
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      varToArr(outbuffer + offset, length_joint_namesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->points_length);
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->joint_names_length);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      joint_names_length = joint_names_lengthT;
+      for( uint32_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      arrToVar(length_st_joint_names, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->points_length);
+      if(points_lengthT > points_length)
+        this->points = (trajectory_msgs::MultiDOFJointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
+      points_length = points_lengthT;
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectory"; };
+    const char * getMD5(){ return "ef145a45a5f47b77b7f5cdde4b16c942"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/MultiDOFJointTrajectoryPoint.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/MultiDOFJointTrajectoryPoint.h
new file mode 100644
index 0000000..88b4564
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/trajectory_msgs/MultiDOFJointTrajectoryPoint.h
@@ -0,0 +1,139 @@
+#ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h
+#define _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Transform.h"
+#include "geometry_msgs/Twist.h"
+#include "ros/duration.h"
+
+namespace trajectory_msgs
+{
+
+  class MultiDOFJointTrajectoryPoint : public ros::Msg
+  {
+    public:
+      uint32_t transforms_length;
+      typedef geometry_msgs::Transform _transforms_type;
+      _transforms_type st_transforms;
+      _transforms_type * transforms;
+      uint32_t velocities_length;
+      typedef geometry_msgs::Twist _velocities_type;
+      _velocities_type st_velocities;
+      _velocities_type * velocities;
+      uint32_t accelerations_length;
+      typedef geometry_msgs::Twist _accelerations_type;
+      _accelerations_type st_accelerations;
+      _accelerations_type * accelerations;
+      typedef ros::Duration _time_from_start_type;
+      _time_from_start_type time_from_start;
+
+    MultiDOFJointTrajectoryPoint():
+      transforms_length(0), transforms(NULL),
+      velocities_length(0), velocities(NULL),
+      accelerations_length(0), accelerations(NULL),
+      time_from_start()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->transforms_length);
+      for( uint32_t i = 0; i < transforms_length; i++){
+      offset += this->transforms[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->velocities_length);
+      for( uint32_t i = 0; i < velocities_length; i++){
+      offset += this->velocities[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->accelerations_length);
+      for( uint32_t i = 0; i < accelerations_length; i++){
+      offset += this->accelerations[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.sec);
+      *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->transforms_length);
+      if(transforms_lengthT > transforms_length)
+        this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
+      transforms_length = transforms_lengthT;
+      for( uint32_t i = 0; i < transforms_length; i++){
+      offset += this->st_transforms.deserialize(inbuffer + offset);
+        memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
+      }
+      uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->velocities_length);
+      if(velocities_lengthT > velocities_length)
+        this->velocities = (geometry_msgs::Twist*)realloc(this->velocities, velocities_lengthT * sizeof(geometry_msgs::Twist));
+      velocities_length = velocities_lengthT;
+      for( uint32_t i = 0; i < velocities_length; i++){
+      offset += this->st_velocities.deserialize(inbuffer + offset);
+        memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(geometry_msgs::Twist));
+      }
+      uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->accelerations_length);
+      if(accelerations_lengthT > accelerations_length)
+        this->accelerations = (geometry_msgs::Twist*)realloc(this->accelerations, accelerations_lengthT * sizeof(geometry_msgs::Twist));
+      accelerations_length = accelerations_lengthT;
+      for( uint32_t i = 0; i < accelerations_length; i++){
+      offset += this->st_accelerations.deserialize(inbuffer + offset);
+        memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(geometry_msgs::Twist));
+      }
+      this->time_from_start.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.sec);
+      this->time_from_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectoryPoint"; };
+    const char * getMD5(){ return "3ebe08d1abd5b65862d50e09430db776"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeAction.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeAction.h
new file mode 100644
index 0000000..f100e9a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeAction.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_turtle_actionlib_ShapeAction_h
+#define _ROS_turtle_actionlib_ShapeAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "turtle_actionlib/ShapeActionGoal.h"
+#include "turtle_actionlib/ShapeActionResult.h"
+#include "turtle_actionlib/ShapeActionFeedback.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeAction : public ros::Msg
+  {
+    public:
+      typedef turtle_actionlib::ShapeActionGoal _action_goal_type;
+      _action_goal_type action_goal;
+      typedef turtle_actionlib::ShapeActionResult _action_result_type;
+      _action_result_type action_result;
+      typedef turtle_actionlib::ShapeActionFeedback _action_feedback_type;
+      _action_feedback_type action_feedback;
+
+    ShapeAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeAction"; };
+    const char * getMD5(){ return "d73b17d6237a925511f5d7727a1dc903"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeActionFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeActionFeedback.h
new file mode 100644
index 0000000..b57b28c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeActionFeedback.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_turtle_actionlib_ShapeActionFeedback_h
+#define _ROS_turtle_actionlib_ShapeActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "turtle_actionlib/ShapeFeedback.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeActionFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef turtle_actionlib::ShapeFeedback _feedback_type;
+      _feedback_type feedback;
+
+    ShapeActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeActionGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeActionGoal.h
new file mode 100644
index 0000000..732215e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeActionGoal.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_turtle_actionlib_ShapeActionGoal_h
+#define _ROS_turtle_actionlib_ShapeActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "turtle_actionlib/ShapeGoal.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeActionGoal : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalID _goal_id_type;
+      _goal_id_type goal_id;
+      typedef turtle_actionlib::ShapeGoal _goal_type;
+      _goal_type goal;
+
+    ShapeActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeActionGoal"; };
+    const char * getMD5(){ return "dbfccd187f2ec9c593916447ffd6cc77"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeActionResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeActionResult.h
new file mode 100644
index 0000000..b4e4213
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeActionResult.h
@@ -0,0 +1,56 @@
+#ifndef _ROS_turtle_actionlib_ShapeActionResult_h
+#define _ROS_turtle_actionlib_ShapeActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "turtle_actionlib/ShapeResult.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeActionResult : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef actionlib_msgs::GoalStatus _status_type;
+      _status_type status;
+      typedef turtle_actionlib::ShapeResult _result_type;
+      _result_type result;
+
+    ShapeActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeActionResult"; };
+    const char * getMD5(){ return "c8d13d5d140f1047a2e4d3bf5c045822"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeFeedback.h
new file mode 100644
index 0000000..6c00c07
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeFeedback.h
@@ -0,0 +1,38 @@
+#ifndef _ROS_turtle_actionlib_ShapeFeedback_h
+#define _ROS_turtle_actionlib_ShapeFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeFeedback : public ros::Msg
+  {
+    public:
+
+    ShapeFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeGoal.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeGoal.h
new file mode 100644
index 0000000..bb72d11
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeGoal.h
@@ -0,0 +1,86 @@
+#ifndef _ROS_turtle_actionlib_ShapeGoal_h
+#define _ROS_turtle_actionlib_ShapeGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeGoal : public ros::Msg
+  {
+    public:
+      typedef int32_t _edges_type;
+      _edges_type edges;
+      typedef float _radius_type;
+      _radius_type radius;
+
+    ShapeGoal():
+      edges(0),
+      radius(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_edges;
+      u_edges.real = this->edges;
+      *(outbuffer + offset + 0) = (u_edges.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_edges.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_edges.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_edges.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->edges);
+      union {
+        float real;
+        uint32_t base;
+      } u_radius;
+      u_radius.real = this->radius;
+      *(outbuffer + offset + 0) = (u_radius.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_radius.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_radius.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_radius.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->radius);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_edges;
+      u_edges.base = 0;
+      u_edges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_edges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_edges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_edges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->edges = u_edges.real;
+      offset += sizeof(this->edges);
+      union {
+        float real;
+        uint32_t base;
+      } u_radius;
+      u_radius.base = 0;
+      u_radius.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_radius.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_radius.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_radius.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->radius = u_radius.real;
+      offset += sizeof(this->radius);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeGoal"; };
+    const char * getMD5(){ return "3b9202ab7292cebe5a95ab2bf6b9c091"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeResult.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeResult.h
new file mode 100644
index 0000000..2a9127d
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/ShapeResult.h
@@ -0,0 +1,86 @@
+#ifndef _ROS_turtle_actionlib_ShapeResult_h
+#define _ROS_turtle_actionlib_ShapeResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeResult : public ros::Msg
+  {
+    public:
+      typedef float _interior_angle_type;
+      _interior_angle_type interior_angle;
+      typedef float _apothem_type;
+      _apothem_type apothem;
+
+    ShapeResult():
+      interior_angle(0),
+      apothem(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_interior_angle;
+      u_interior_angle.real = this->interior_angle;
+      *(outbuffer + offset + 0) = (u_interior_angle.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_interior_angle.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_interior_angle.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_interior_angle.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->interior_angle);
+      union {
+        float real;
+        uint32_t base;
+      } u_apothem;
+      u_apothem.real = this->apothem;
+      *(outbuffer + offset + 0) = (u_apothem.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_apothem.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_apothem.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_apothem.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->apothem);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_interior_angle;
+      u_interior_angle.base = 0;
+      u_interior_angle.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_interior_angle.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_interior_angle.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_interior_angle.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->interior_angle = u_interior_angle.real;
+      offset += sizeof(this->interior_angle);
+      union {
+        float real;
+        uint32_t base;
+      } u_apothem;
+      u_apothem.base = 0;
+      u_apothem.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_apothem.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_apothem.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_apothem.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->apothem = u_apothem.real;
+      offset += sizeof(this->apothem);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeResult"; };
+    const char * getMD5(){ return "b06c6e2225f820dbc644270387cd1a7c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/Velocity.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/Velocity.h
new file mode 100644
index 0000000..ab7141e
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtle_actionlib/Velocity.h
@@ -0,0 +1,86 @@
+#ifndef _ROS_turtle_actionlib_Velocity_h
+#define _ROS_turtle_actionlib_Velocity_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtle_actionlib
+{
+
+  class Velocity : public ros::Msg
+  {
+    public:
+      typedef float _linear_type;
+      _linear_type linear;
+      typedef float _angular_type;
+      _angular_type angular;
+
+    Velocity():
+      linear(0),
+      angular(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_linear;
+      u_linear.real = this->linear;
+      *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->linear);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular;
+      u_angular.real = this->angular;
+      *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angular);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_linear;
+      u_linear.base = 0;
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->linear = u_linear.real;
+      offset += sizeof(this->linear);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular;
+      u_angular.base = 0;
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angular = u_angular.real;
+      offset += sizeof(this->angular);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/Velocity"; };
+    const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/PanoramaImg.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/PanoramaImg.h
new file mode 100644
index 0000000..7d29869
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/PanoramaImg.h
@@ -0,0 +1,180 @@
+#ifndef _ROS_turtlebot3_msgs_PanoramaImg_h
+#define _ROS_turtlebot3_msgs_PanoramaImg_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/Image.h"
+
+namespace turtlebot3_msgs
+{
+
+  class PanoramaImg : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _pano_id_type;
+      _pano_id_type pano_id;
+      typedef double _latitude_type;
+      _latitude_type latitude;
+      typedef double _longitude_type;
+      _longitude_type longitude;
+      typedef double _heading_type;
+      _heading_type heading;
+      typedef const char* _geo_tag_type;
+      _geo_tag_type geo_tag;
+      typedef sensor_msgs::Image _image_type;
+      _image_type image;
+
+    PanoramaImg():
+      header(),
+      pano_id(""),
+      latitude(0),
+      longitude(0),
+      heading(0),
+      geo_tag(""),
+      image()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_pano_id = strlen(this->pano_id);
+      varToArr(outbuffer + offset, length_pano_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->pano_id, length_pano_id);
+      offset += length_pano_id;
+      union {
+        double real;
+        uint64_t base;
+      } u_latitude;
+      u_latitude.real = this->latitude;
+      *(outbuffer + offset + 0) = (u_latitude.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_latitude.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_latitude.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_latitude.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_latitude.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_latitude.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_latitude.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_latitude.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->latitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_longitude;
+      u_longitude.real = this->longitude;
+      *(outbuffer + offset + 0) = (u_longitude.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_longitude.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_longitude.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_longitude.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_longitude.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_longitude.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_longitude.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_longitude.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->longitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_heading;
+      u_heading.real = this->heading;
+      *(outbuffer + offset + 0) = (u_heading.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_heading.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_heading.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_heading.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_heading.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_heading.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_heading.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_heading.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->heading);
+      uint32_t length_geo_tag = strlen(this->geo_tag);
+      varToArr(outbuffer + offset, length_geo_tag);
+      offset += 4;
+      memcpy(outbuffer + offset, this->geo_tag, length_geo_tag);
+      offset += length_geo_tag;
+      offset += this->image.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_pano_id;
+      arrToVar(length_pano_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_pano_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_pano_id-1]=0;
+      this->pano_id = (char *)(inbuffer + offset-1);
+      offset += length_pano_id;
+      union {
+        double real;
+        uint64_t base;
+      } u_latitude;
+      u_latitude.base = 0;
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->latitude = u_latitude.real;
+      offset += sizeof(this->latitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_longitude;
+      u_longitude.base = 0;
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->longitude = u_longitude.real;
+      offset += sizeof(this->longitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_heading;
+      u_heading.base = 0;
+      u_heading.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_heading.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_heading.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_heading.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_heading.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_heading.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_heading.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_heading.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->heading = u_heading.real;
+      offset += sizeof(this->heading);
+      uint32_t length_geo_tag;
+      arrToVar(length_geo_tag, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_geo_tag; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_geo_tag-1]=0;
+      this->geo_tag = (char *)(inbuffer + offset-1);
+      offset += length_geo_tag;
+      offset += this->image.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "turtlebot3_msgs/PanoramaImg"; };
+    const char * getMD5(){ return "aedf66295b374a7249a786af27aecc87"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/SensorState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/SensorState.h
new file mode 100644
index 0000000..d4b3dde
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/SensorState.h
@@ -0,0 +1,168 @@
+#ifndef _ROS_turtlebot3_msgs_SensorState_h
+#define _ROS_turtlebot3_msgs_SensorState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace turtlebot3_msgs
+{
+
+  class SensorState : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef uint8_t _bumper_type;
+      _bumper_type bumper;
+      typedef uint8_t _cliff_type;
+      _cliff_type cliff;
+      typedef uint8_t _button_type;
+      _button_type button;
+      typedef bool _torque_type;
+      _torque_type torque;
+      typedef int32_t _left_encoder_type;
+      _left_encoder_type left_encoder;
+      typedef int32_t _right_encoder_type;
+      _right_encoder_type right_encoder;
+      typedef float _battery_type;
+      _battery_type battery;
+      enum { BUMPER_RIGHT =  1 };
+      enum { BUMPER_CENTER =  2 };
+      enum { BUMPER_LEFT =  4 };
+      enum { CLIFF_RIGHT =  1 };
+      enum { CLIFF_CENTER =  2 };
+      enum { CLIFF_LEFT =  4 };
+      enum { BUTTON0 =  1 };
+      enum { BUTTON1 =  2 };
+      enum { BUTTON2 =  4 };
+      enum { ERROR_LEFT_MOTOR =  1 };
+      enum { ERROR_RIGHT_MOTOR =  2 };
+      enum { TORQUE_ON =  1 };
+      enum { TORQUE_OFF =  2 };
+
+    SensorState():
+      header(),
+      bumper(0),
+      cliff(0),
+      button(0),
+      torque(0),
+      left_encoder(0),
+      right_encoder(0),
+      battery(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->bumper >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->bumper);
+      *(outbuffer + offset + 0) = (this->cliff >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->cliff);
+      *(outbuffer + offset + 0) = (this->button >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->button);
+      union {
+        bool real;
+        uint8_t base;
+      } u_torque;
+      u_torque.real = this->torque;
+      *(outbuffer + offset + 0) = (u_torque.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->torque);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_left_encoder;
+      u_left_encoder.real = this->left_encoder;
+      *(outbuffer + offset + 0) = (u_left_encoder.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_left_encoder.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_left_encoder.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_left_encoder.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->left_encoder);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_right_encoder;
+      u_right_encoder.real = this->right_encoder;
+      *(outbuffer + offset + 0) = (u_right_encoder.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_right_encoder.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_right_encoder.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_right_encoder.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->right_encoder);
+      union {
+        float real;
+        uint32_t base;
+      } u_battery;
+      u_battery.real = this->battery;
+      *(outbuffer + offset + 0) = (u_battery.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_battery.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_battery.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_battery.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->battery);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->bumper =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->bumper);
+      this->cliff =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->cliff);
+      this->button =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->button);
+      union {
+        bool real;
+        uint8_t base;
+      } u_torque;
+      u_torque.base = 0;
+      u_torque.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->torque = u_torque.real;
+      offset += sizeof(this->torque);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_left_encoder;
+      u_left_encoder.base = 0;
+      u_left_encoder.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_left_encoder.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_left_encoder.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_left_encoder.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->left_encoder = u_left_encoder.real;
+      offset += sizeof(this->left_encoder);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_right_encoder;
+      u_right_encoder.base = 0;
+      u_right_encoder.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_right_encoder.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_right_encoder.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_right_encoder.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->right_encoder = u_right_encoder.real;
+      offset += sizeof(this->right_encoder);
+      union {
+        float real;
+        uint32_t base;
+      } u_battery;
+      u_battery.base = 0;
+      u_battery.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_battery.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_battery.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_battery.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->battery = u_battery.real;
+      offset += sizeof(this->battery);
+     return offset;
+    }
+
+    const char * getType(){ return "turtlebot3_msgs/SensorState"; };
+    const char * getMD5(){ return "d537ed7b8d95065b6c83830430b93911"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/SetFollowState.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/SetFollowState.h
new file mode 100644
index 0000000..74d730f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/SetFollowState.h
@@ -0,0 +1,88 @@
+#ifndef _ROS_SERVICE_SetFollowState_h
+#define _ROS_SERVICE_SetFollowState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlebot3_msgs
+{
+
+static const char SETFOLLOWSTATE[] = "turtlebot3_msgs/SetFollowState";
+
+  class SetFollowStateRequest : public ros::Msg
+  {
+    public:
+      typedef uint8_t _state_type;
+      _state_type state;
+      enum { STOPPED =  0 };
+      enum { FOLLOW =  1 };
+      enum { OK =  0 };
+      enum { ERROR =  1 };
+
+    SetFollowStateRequest():
+      state(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->state >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->state);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->state =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->state);
+     return offset;
+    }
+
+    const char * getType(){ return SETFOLLOWSTATE; };
+    const char * getMD5(){ return "bf26f08bd02c8f904098849ef5e63d81"; };
+
+  };
+
+  class SetFollowStateResponse : public ros::Msg
+  {
+    public:
+      typedef uint8_t _result_type;
+      _result_type result;
+
+    SetFollowStateResponse():
+      result(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->result >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->result);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->result =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->result);
+     return offset;
+    }
+
+    const char * getType(){ return SETFOLLOWSTATE; };
+    const char * getMD5(){ return "25458147911545c320c4c0a299eff763"; };
+
+  };
+
+  class SetFollowState {
+    public:
+    typedef SetFollowStateRequest Request;
+    typedef SetFollowStateResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/Sound.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/Sound.h
new file mode 100644
index 0000000..12381c4
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/Sound.h
@@ -0,0 +1,51 @@
+#ifndef _ROS_turtlebot3_msgs_Sound_h
+#define _ROS_turtlebot3_msgs_Sound_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlebot3_msgs
+{
+
+  class Sound : public ros::Msg
+  {
+    public:
+      typedef uint8_t _value_type;
+      _value_type value;
+      enum { OFF =  0 };
+      enum { ON =  1 };
+      enum { LOW_BATTERY =  2 };
+      enum { ERROR =  3 };
+      enum { BUTTON1 =  4 };
+      enum { BUTTON2 =  5 };
+
+    Sound():
+      value(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->value >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->value);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->value =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->value);
+     return offset;
+    }
+
+    const char * getType(){ return "turtlebot3_msgs/Sound"; };
+    const char * getMD5(){ return "e1f8c7f8a9a61383b5734fbdeca2f99a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/TakePanorama.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/TakePanorama.h
new file mode 100644
index 0000000..b43d265
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/TakePanorama.h
@@ -0,0 +1,162 @@
+#ifndef _ROS_SERVICE_TakePanorama_h
+#define _ROS_SERVICE_TakePanorama_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlebot3_msgs
+{
+
+static const char TAKEPANORAMA[] = "turtlebot3_msgs/TakePanorama";
+
+  class TakePanoramaRequest : public ros::Msg
+  {
+    public:
+      typedef uint8_t _mode_type;
+      _mode_type mode;
+      typedef float _pano_angle_type;
+      _pano_angle_type pano_angle;
+      typedef float _snap_interval_type;
+      _snap_interval_type snap_interval;
+      typedef float _rot_vel_type;
+      _rot_vel_type rot_vel;
+      enum { SNAPANDROTATE = 0  };
+      enum { CONTINUOUS = 1     };
+      enum { STOP = 2           };
+      enum { STARTED = 0        };
+      enum { IN_PROGRESS = 1    };
+      enum { STOPPED = 2        };
+
+    TakePanoramaRequest():
+      mode(0),
+      pano_angle(0),
+      snap_interval(0),
+      rot_vel(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->mode >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->mode);
+      union {
+        float real;
+        uint32_t base;
+      } u_pano_angle;
+      u_pano_angle.real = this->pano_angle;
+      *(outbuffer + offset + 0) = (u_pano_angle.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pano_angle.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pano_angle.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pano_angle.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pano_angle);
+      union {
+        float real;
+        uint32_t base;
+      } u_snap_interval;
+      u_snap_interval.real = this->snap_interval;
+      *(outbuffer + offset + 0) = (u_snap_interval.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_snap_interval.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_snap_interval.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_snap_interval.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->snap_interval);
+      union {
+        float real;
+        uint32_t base;
+      } u_rot_vel;
+      u_rot_vel.real = this->rot_vel;
+      *(outbuffer + offset + 0) = (u_rot_vel.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_rot_vel.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_rot_vel.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_rot_vel.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->rot_vel);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->mode =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->mode);
+      union {
+        float real;
+        uint32_t base;
+      } u_pano_angle;
+      u_pano_angle.base = 0;
+      u_pano_angle.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pano_angle.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pano_angle.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pano_angle.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->pano_angle = u_pano_angle.real;
+      offset += sizeof(this->pano_angle);
+      union {
+        float real;
+        uint32_t base;
+      } u_snap_interval;
+      u_snap_interval.base = 0;
+      u_snap_interval.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_snap_interval.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_snap_interval.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_snap_interval.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->snap_interval = u_snap_interval.real;
+      offset += sizeof(this->snap_interval);
+      union {
+        float real;
+        uint32_t base;
+      } u_rot_vel;
+      u_rot_vel.base = 0;
+      u_rot_vel.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_rot_vel.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_rot_vel.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_rot_vel.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->rot_vel = u_rot_vel.real;
+      offset += sizeof(this->rot_vel);
+     return offset;
+    }
+
+    const char * getType(){ return TAKEPANORAMA; };
+    const char * getMD5(){ return "ee720ee47c4798b7447cb7a5755b0062"; };
+
+  };
+
+  class TakePanoramaResponse : public ros::Msg
+  {
+    public:
+      typedef uint8_t _status_type;
+      _status_type status;
+
+    TakePanoramaResponse():
+      status(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->status >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->status);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->status =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->status);
+     return offset;
+    }
+
+    const char * getType(){ return TAKEPANORAMA; };
+    const char * getMD5(){ return "284aa12dd9e9e760802ac9f38036ea5e"; };
+
+  };
+
+  class TakePanorama {
+    public:
+    typedef TakePanoramaRequest Request;
+    typedef TakePanoramaResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/VersionInfo.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/VersionInfo.h
new file mode 100644
index 0000000..3d81b30
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlebot3_msgs/VersionInfo.h
@@ -0,0 +1,89 @@
+#ifndef _ROS_turtlebot3_msgs_VersionInfo_h
+#define _ROS_turtlebot3_msgs_VersionInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlebot3_msgs
+{
+
+  class VersionInfo : public ros::Msg
+  {
+    public:
+      typedef const char* _hardware_type;
+      _hardware_type hardware;
+      typedef const char* _firmware_type;
+      _firmware_type firmware;
+      typedef const char* _software_type;
+      _software_type software;
+
+    VersionInfo():
+      hardware(""),
+      firmware(""),
+      software("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_hardware = strlen(this->hardware);
+      varToArr(outbuffer + offset, length_hardware);
+      offset += 4;
+      memcpy(outbuffer + offset, this->hardware, length_hardware);
+      offset += length_hardware;
+      uint32_t length_firmware = strlen(this->firmware);
+      varToArr(outbuffer + offset, length_firmware);
+      offset += 4;
+      memcpy(outbuffer + offset, this->firmware, length_firmware);
+      offset += length_firmware;
+      uint32_t length_software = strlen(this->software);
+      varToArr(outbuffer + offset, length_software);
+      offset += 4;
+      memcpy(outbuffer + offset, this->software, length_software);
+      offset += length_software;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_hardware;
+      arrToVar(length_hardware, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_hardware; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_hardware-1]=0;
+      this->hardware = (char *)(inbuffer + offset-1);
+      offset += length_hardware;
+      uint32_t length_firmware;
+      arrToVar(length_firmware, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_firmware; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_firmware-1]=0;
+      this->firmware = (char *)(inbuffer + offset-1);
+      offset += length_firmware;
+      uint32_t length_software;
+      arrToVar(length_software, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_software; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_software-1]=0;
+      this->software = (char *)(inbuffer + offset-1);
+      offset += length_software;
+     return offset;
+    }
+
+    const char * getType(){ return "turtlebot3_msgs/VersionInfo"; };
+    const char * getMD5(){ return "43e0361461af2970a33107409403ef3c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Color.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Color.h
new file mode 100644
index 0000000..de80290
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Color.h
@@ -0,0 +1,59 @@
+#ifndef _ROS_turtlesim_Color_h
+#define _ROS_turtlesim_Color_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+  class Color : public ros::Msg
+  {
+    public:
+      typedef uint8_t _r_type;
+      _r_type r;
+      typedef uint8_t _g_type;
+      _g_type g;
+      typedef uint8_t _b_type;
+      _b_type b;
+
+    Color():
+      r(0),
+      g(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->r >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->r);
+      *(outbuffer + offset + 0) = (this->g >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->g);
+      *(outbuffer + offset + 0) = (this->b >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->r =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->r);
+      this->g =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->g);
+      this->b =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return "turtlesim/Color"; };
+    const char * getMD5(){ return "353891e354491c51aabe32df673fb446"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Kill.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Kill.h
new file mode 100644
index 0000000..086f2bb
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Kill.h
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_Kill_h
+#define _ROS_SERVICE_Kill_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char KILL[] = "turtlesim/Kill";
+
+  class KillRequest : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+
+    KillRequest():
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return KILL; };
+    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
+
+  };
+
+  class KillResponse : public ros::Msg
+  {
+    public:
+
+    KillResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return KILL; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class Kill {
+    public:
+    typedef KillRequest Request;
+    typedef KillResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Pose.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Pose.h
new file mode 100644
index 0000000..7dede41
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Pose.h
@@ -0,0 +1,158 @@
+#ifndef _ROS_turtlesim_Pose_h
+#define _ROS_turtlesim_Pose_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+  class Pose : public ros::Msg
+  {
+    public:
+      typedef float _x_type;
+      _x_type x;
+      typedef float _y_type;
+      _y_type y;
+      typedef float _theta_type;
+      _theta_type theta;
+      typedef float _linear_velocity_type;
+      _linear_velocity_type linear_velocity;
+      typedef float _angular_velocity_type;
+      _angular_velocity_type angular_velocity;
+
+    Pose():
+      x(0),
+      y(0),
+      theta(0),
+      linear_velocity(0),
+      angular_velocity(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.real = this->theta;
+      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->theta);
+      union {
+        float real;
+        uint32_t base;
+      } u_linear_velocity;
+      u_linear_velocity.real = this->linear_velocity;
+      *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->linear_velocity);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular_velocity;
+      u_angular_velocity.real = this->angular_velocity;
+      *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angular_velocity);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.base = 0;
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->theta = u_theta.real;
+      offset += sizeof(this->theta);
+      union {
+        float real;
+        uint32_t base;
+      } u_linear_velocity;
+      u_linear_velocity.base = 0;
+      u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->linear_velocity = u_linear_velocity.real;
+      offset += sizeof(this->linear_velocity);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular_velocity;
+      u_angular_velocity.base = 0;
+      u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angular_velocity = u_angular_velocity.real;
+      offset += sizeof(this->angular_velocity);
+     return offset;
+    }
+
+    const char * getType(){ return "turtlesim/Pose"; };
+    const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/SetPen.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/SetPen.h
new file mode 100644
index 0000000..a0e32c0
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/SetPen.h
@@ -0,0 +1,105 @@
+#ifndef _ROS_SERVICE_SetPen_h
+#define _ROS_SERVICE_SetPen_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char SETPEN[] = "turtlesim/SetPen";
+
+  class SetPenRequest : public ros::Msg
+  {
+    public:
+      typedef uint8_t _r_type;
+      _r_type r;
+      typedef uint8_t _g_type;
+      _g_type g;
+      typedef uint8_t _b_type;
+      _b_type b;
+      typedef uint8_t _width_type;
+      _width_type width;
+      typedef uint8_t _off_type;
+      _off_type off;
+
+    SetPenRequest():
+      r(0),
+      g(0),
+      b(0),
+      width(0),
+      off(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->r >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->r);
+      *(outbuffer + offset + 0) = (this->g >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->g);
+      *(outbuffer + offset + 0) = (this->b >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->b);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->width);
+      *(outbuffer + offset + 0) = (this->off >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->off);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->r =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->r);
+      this->g =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->g);
+      this->b =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->b);
+      this->width =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->width);
+      this->off =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->off);
+     return offset;
+    }
+
+    const char * getType(){ return SETPEN; };
+    const char * getMD5(){ return "9f452acce566bf0c0954594f69a8e41b"; };
+
+  };
+
+  class SetPenResponse : public ros::Msg
+  {
+    public:
+
+    SetPenResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SETPEN; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SetPen {
+    public:
+    typedef SetPenRequest Request;
+    typedef SetPenResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Spawn.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Spawn.h
new file mode 100644
index 0000000..f69b42f
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/Spawn.h
@@ -0,0 +1,176 @@
+#ifndef _ROS_SERVICE_Spawn_h
+#define _ROS_SERVICE_Spawn_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char SPAWN[] = "turtlesim/Spawn";
+
+  class SpawnRequest : public ros::Msg
+  {
+    public:
+      typedef float _x_type;
+      _x_type x;
+      typedef float _y_type;
+      _y_type y;
+      typedef float _theta_type;
+      _theta_type theta;
+      typedef const char* _name_type;
+      _name_type name;
+
+    SpawnRequest():
+      x(0),
+      y(0),
+      theta(0),
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.real = this->theta;
+      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->theta);
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.base = 0;
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->theta = u_theta.real;
+      offset += sizeof(this->theta);
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return SPAWN; };
+    const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; };
+
+  };
+
+  class SpawnResponse : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+
+    SpawnResponse():
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return SPAWN; };
+    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
+
+  };
+
+  class Spawn {
+    public:
+    typedef SpawnRequest Request;
+    typedef SpawnResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/TeleportAbsolute.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/TeleportAbsolute.h
new file mode 100644
index 0000000..c81489b
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/TeleportAbsolute.h
@@ -0,0 +1,142 @@
+#ifndef _ROS_SERVICE_TeleportAbsolute_h
+#define _ROS_SERVICE_TeleportAbsolute_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char TELEPORTABSOLUTE[] = "turtlesim/TeleportAbsolute";
+
+  class TeleportAbsoluteRequest : public ros::Msg
+  {
+    public:
+      typedef float _x_type;
+      _x_type x;
+      typedef float _y_type;
+      _y_type y;
+      typedef float _theta_type;
+      _theta_type theta;
+
+    TeleportAbsoluteRequest():
+      x(0),
+      y(0),
+      theta(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.real = this->theta;
+      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->theta);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.base = 0;
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->theta = u_theta.real;
+      offset += sizeof(this->theta);
+     return offset;
+    }
+
+    const char * getType(){ return TELEPORTABSOLUTE; };
+    const char * getMD5(){ return "a130bc60ee6513855dc62ea83fcc5b20"; };
+
+  };
+
+  class TeleportAbsoluteResponse : public ros::Msg
+  {
+    public:
+
+    TeleportAbsoluteResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return TELEPORTABSOLUTE; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class TeleportAbsolute {
+    public:
+    typedef TeleportAbsoluteRequest Request;
+    typedef TeleportAbsoluteResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/TeleportRelative.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/TeleportRelative.h
new file mode 100644
index 0000000..2da9668
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/turtlesim/TeleportRelative.h
@@ -0,0 +1,118 @@
+#ifndef _ROS_SERVICE_TeleportRelative_h
+#define _ROS_SERVICE_TeleportRelative_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char TELEPORTRELATIVE[] = "turtlesim/TeleportRelative";
+
+  class TeleportRelativeRequest : public ros::Msg
+  {
+    public:
+      typedef float _linear_type;
+      _linear_type linear;
+      typedef float _angular_type;
+      _angular_type angular;
+
+    TeleportRelativeRequest():
+      linear(0),
+      angular(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_linear;
+      u_linear.real = this->linear;
+      *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->linear);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular;
+      u_angular.real = this->angular;
+      *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angular);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_linear;
+      u_linear.base = 0;
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->linear = u_linear.real;
+      offset += sizeof(this->linear);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular;
+      u_angular.base = 0;
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angular = u_angular.real;
+      offset += sizeof(this->angular);
+     return offset;
+    }
+
+    const char * getType(){ return TELEPORTRELATIVE; };
+    const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
+
+  };
+
+  class TeleportRelativeResponse : public ros::Msg
+  {
+    public:
+
+    TeleportRelativeResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return TELEPORTRELATIVE; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class TeleportRelative {
+    public:
+    typedef TeleportRelativeRequest Request;
+    typedef TeleportRelativeResponse Response;
+  };
+
+}
+#endif
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/ImageMarker.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/ImageMarker.h
new file mode 100644
index 0000000..c69577a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/ImageMarker.h
@@ -0,0 +1,262 @@
+#ifndef _ROS_visualization_msgs_ImageMarker_h
+#define _ROS_visualization_msgs_ImageMarker_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+#include "std_msgs/ColorRGBA.h"
+#include "ros/duration.h"
+
+namespace visualization_msgs
+{
+
+  class ImageMarker : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _ns_type;
+      _ns_type ns;
+      typedef int32_t _id_type;
+      _id_type id;
+      typedef int32_t _type_type;
+      _type_type type;
+      typedef int32_t _action_type;
+      _action_type action;
+      typedef geometry_msgs::Point _position_type;
+      _position_type position;
+      typedef float _scale_type;
+      _scale_type scale;
+      typedef std_msgs::ColorRGBA _outline_color_type;
+      _outline_color_type outline_color;
+      typedef uint8_t _filled_type;
+      _filled_type filled;
+      typedef std_msgs::ColorRGBA _fill_color_type;
+      _fill_color_type fill_color;
+      typedef ros::Duration _lifetime_type;
+      _lifetime_type lifetime;
+      uint32_t points_length;
+      typedef geometry_msgs::Point _points_type;
+      _points_type st_points;
+      _points_type * points;
+      uint32_t outline_colors_length;
+      typedef std_msgs::ColorRGBA _outline_colors_type;
+      _outline_colors_type st_outline_colors;
+      _outline_colors_type * outline_colors;
+      enum { CIRCLE = 0 };
+      enum { LINE_STRIP = 1 };
+      enum { LINE_LIST = 2 };
+      enum { POLYGON = 3 };
+      enum { POINTS = 4 };
+      enum { ADD = 0 };
+      enum { REMOVE = 1 };
+
+    ImageMarker():
+      header(),
+      ns(""),
+      id(0),
+      type(0),
+      action(0),
+      position(),
+      scale(0),
+      outline_color(),
+      filled(0),
+      fill_color(),
+      lifetime(),
+      points_length(0), points(NULL),
+      outline_colors_length(0), outline_colors(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_ns = strlen(this->ns);
+      varToArr(outbuffer + offset, length_ns);
+      offset += 4;
+      memcpy(outbuffer + offset, this->ns, length_ns);
+      offset += length_ns;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.real = this->id;
+      *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_type;
+      u_type.real = this->type;
+      *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_type.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_type.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_type.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->type);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_action;
+      u_action.real = this->action;
+      *(outbuffer + offset + 0) = (u_action.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_action.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_action.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_action.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->action);
+      offset += this->position.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_scale;
+      u_scale.real = this->scale;
+      *(outbuffer + offset + 0) = (u_scale.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_scale.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_scale.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_scale.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->scale);
+      offset += this->outline_color.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->filled >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->filled);
+      offset += this->fill_color.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->lifetime.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->lifetime.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->lifetime.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->lifetime.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->lifetime.sec);
+      *(outbuffer + offset + 0) = (this->lifetime.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->lifetime.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->lifetime.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->lifetime.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->lifetime.nsec);
+      *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->points_length);
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->outline_colors_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->outline_colors_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->outline_colors_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->outline_colors_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->outline_colors_length);
+      for( uint32_t i = 0; i < outline_colors_length; i++){
+      offset += this->outline_colors[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_ns;
+      arrToVar(length_ns, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_ns; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_ns-1]=0;
+      this->ns = (char *)(inbuffer + offset-1);
+      offset += length_ns;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.base = 0;
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->id = u_id.real;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_type;
+      u_type.base = 0;
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->type = u_type.real;
+      offset += sizeof(this->type);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_action;
+      u_action.base = 0;
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->action = u_action.real;
+      offset += sizeof(this->action);
+      offset += this->position.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_scale;
+      u_scale.base = 0;
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->scale = u_scale.real;
+      offset += sizeof(this->scale);
+      offset += this->outline_color.deserialize(inbuffer + offset);
+      this->filled =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->filled);
+      offset += this->fill_color.deserialize(inbuffer + offset);
+      this->lifetime.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->lifetime.sec);
+      this->lifetime.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->lifetime.nsec);
+      uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->points_length);
+      if(points_lengthT > points_length)
+        this->points = (geometry_msgs::Point*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point));
+      points_length = points_lengthT;
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point));
+      }
+      uint32_t outline_colors_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      outline_colors_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      outline_colors_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      outline_colors_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->outline_colors_length);
+      if(outline_colors_lengthT > outline_colors_length)
+        this->outline_colors = (std_msgs::ColorRGBA*)realloc(this->outline_colors, outline_colors_lengthT * sizeof(std_msgs::ColorRGBA));
+      outline_colors_length = outline_colors_lengthT;
+      for( uint32_t i = 0; i < outline_colors_length; i++){
+      offset += this->st_outline_colors.deserialize(inbuffer + offset);
+        memcpy( &(this->outline_colors[i]), &(this->st_outline_colors), sizeof(std_msgs::ColorRGBA));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/ImageMarker"; };
+    const char * getMD5(){ return "1de93c67ec8858b831025a08fbf1b35c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarker.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarker.h
new file mode 100644
index 0000000..8752679
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarker.h
@@ -0,0 +1,160 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarker_h
+#define _ROS_visualization_msgs_InteractiveMarker_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+#include "visualization_msgs/MenuEntry.h"
+#include "visualization_msgs/InteractiveMarkerControl.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarker : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type pose;
+      typedef const char* _name_type;
+      _name_type name;
+      typedef const char* _description_type;
+      _description_type description;
+      typedef float _scale_type;
+      _scale_type scale;
+      uint32_t menu_entries_length;
+      typedef visualization_msgs::MenuEntry _menu_entries_type;
+      _menu_entries_type st_menu_entries;
+      _menu_entries_type * menu_entries;
+      uint32_t controls_length;
+      typedef visualization_msgs::InteractiveMarkerControl _controls_type;
+      _controls_type st_controls;
+      _controls_type * controls;
+
+    InteractiveMarker():
+      header(),
+      pose(),
+      name(""),
+      description(""),
+      scale(0),
+      menu_entries_length(0), menu_entries(NULL),
+      controls_length(0), controls(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->pose.serialize(outbuffer + offset);
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_description = strlen(this->description);
+      varToArr(outbuffer + offset, length_description);
+      offset += 4;
+      memcpy(outbuffer + offset, this->description, length_description);
+      offset += length_description;
+      union {
+        float real;
+        uint32_t base;
+      } u_scale;
+      u_scale.real = this->scale;
+      *(outbuffer + offset + 0) = (u_scale.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_scale.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_scale.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_scale.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->scale);
+      *(outbuffer + offset + 0) = (this->menu_entries_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->menu_entries_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->menu_entries_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->menu_entries_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->menu_entries_length);
+      for( uint32_t i = 0; i < menu_entries_length; i++){
+      offset += this->menu_entries[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->controls_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->controls_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->controls_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->controls_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->controls_length);
+      for( uint32_t i = 0; i < controls_length; i++){
+      offset += this->controls[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->pose.deserialize(inbuffer + offset);
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_description;
+      arrToVar(length_description, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_description; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_description-1]=0;
+      this->description = (char *)(inbuffer + offset-1);
+      offset += length_description;
+      union {
+        float real;
+        uint32_t base;
+      } u_scale;
+      u_scale.base = 0;
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->scale = u_scale.real;
+      offset += sizeof(this->scale);
+      uint32_t menu_entries_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      menu_entries_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      menu_entries_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      menu_entries_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->menu_entries_length);
+      if(menu_entries_lengthT > menu_entries_length)
+        this->menu_entries = (visualization_msgs::MenuEntry*)realloc(this->menu_entries, menu_entries_lengthT * sizeof(visualization_msgs::MenuEntry));
+      menu_entries_length = menu_entries_lengthT;
+      for( uint32_t i = 0; i < menu_entries_length; i++){
+      offset += this->st_menu_entries.deserialize(inbuffer + offset);
+        memcpy( &(this->menu_entries[i]), &(this->st_menu_entries), sizeof(visualization_msgs::MenuEntry));
+      }
+      uint32_t controls_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      controls_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      controls_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      controls_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->controls_length);
+      if(controls_lengthT > controls_length)
+        this->controls = (visualization_msgs::InteractiveMarkerControl*)realloc(this->controls, controls_lengthT * sizeof(visualization_msgs::InteractiveMarkerControl));
+      controls_length = controls_lengthT;
+      for( uint32_t i = 0; i < controls_length; i++){
+      offset += this->st_controls.deserialize(inbuffer + offset);
+        memcpy( &(this->controls[i]), &(this->st_controls), sizeof(visualization_msgs::InteractiveMarkerControl));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarker"; };
+    const char * getMD5(){ return "dd86d22909d5a3364b384492e35c10af"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerControl.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerControl.h
new file mode 100644
index 0000000..0c905ce
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerControl.h
@@ -0,0 +1,167 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarkerControl_h
+#define _ROS_visualization_msgs_InteractiveMarkerControl_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Quaternion.h"
+#include "visualization_msgs/Marker.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarkerControl : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      typedef geometry_msgs::Quaternion _orientation_type;
+      _orientation_type orientation;
+      typedef uint8_t _orientation_mode_type;
+      _orientation_mode_type orientation_mode;
+      typedef uint8_t _interaction_mode_type;
+      _interaction_mode_type interaction_mode;
+      typedef bool _always_visible_type;
+      _always_visible_type always_visible;
+      uint32_t markers_length;
+      typedef visualization_msgs::Marker _markers_type;
+      _markers_type st_markers;
+      _markers_type * markers;
+      typedef bool _independent_marker_orientation_type;
+      _independent_marker_orientation_type independent_marker_orientation;
+      typedef const char* _description_type;
+      _description_type description;
+      enum { INHERIT =  0 };
+      enum { FIXED =  1 };
+      enum { VIEW_FACING =  2 };
+      enum { NONE =  0 };
+      enum { MENU =  1 };
+      enum { BUTTON =  2 };
+      enum { MOVE_AXIS =  3 };
+      enum { MOVE_PLANE =  4 };
+      enum { ROTATE_AXIS =  5 };
+      enum { MOVE_ROTATE =  6 };
+      enum { MOVE_3D =  7 };
+      enum { ROTATE_3D =  8 };
+      enum { MOVE_ROTATE_3D =  9 };
+
+    InteractiveMarkerControl():
+      name(""),
+      orientation(),
+      orientation_mode(0),
+      interaction_mode(0),
+      always_visible(0),
+      markers_length(0), markers(NULL),
+      independent_marker_orientation(0),
+      description("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      offset += this->orientation.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->orientation_mode >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->orientation_mode);
+      *(outbuffer + offset + 0) = (this->interaction_mode >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->interaction_mode);
+      union {
+        bool real;
+        uint8_t base;
+      } u_always_visible;
+      u_always_visible.real = this->always_visible;
+      *(outbuffer + offset + 0) = (u_always_visible.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->always_visible);
+      *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->markers_length);
+      for( uint32_t i = 0; i < markers_length; i++){
+      offset += this->markers[i].serialize(outbuffer + offset);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_independent_marker_orientation;
+      u_independent_marker_orientation.real = this->independent_marker_orientation;
+      *(outbuffer + offset + 0) = (u_independent_marker_orientation.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->independent_marker_orientation);
+      uint32_t length_description = strlen(this->description);
+      varToArr(outbuffer + offset, length_description);
+      offset += 4;
+      memcpy(outbuffer + offset, this->description, length_description);
+      offset += length_description;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      offset += this->orientation.deserialize(inbuffer + offset);
+      this->orientation_mode =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->orientation_mode);
+      this->interaction_mode =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->interaction_mode);
+      union {
+        bool real;
+        uint8_t base;
+      } u_always_visible;
+      u_always_visible.base = 0;
+      u_always_visible.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->always_visible = u_always_visible.real;
+      offset += sizeof(this->always_visible);
+      uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->markers_length);
+      if(markers_lengthT > markers_length)
+        this->markers = (visualization_msgs::Marker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::Marker));
+      markers_length = markers_lengthT;
+      for( uint32_t i = 0; i < markers_length; i++){
+      offset += this->st_markers.deserialize(inbuffer + offset);
+        memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::Marker));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_independent_marker_orientation;
+      u_independent_marker_orientation.base = 0;
+      u_independent_marker_orientation.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->independent_marker_orientation = u_independent_marker_orientation.real;
+      offset += sizeof(this->independent_marker_orientation);
+      uint32_t length_description;
+      arrToVar(length_description, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_description; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_description-1]=0;
+      this->description = (char *)(inbuffer + offset-1);
+      offset += length_description;
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarkerControl"; };
+    const char * getMD5(){ return "b3c81e785788195d1840b86c28da1aac"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerFeedback.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerFeedback.h
new file mode 100644
index 0000000..3d5cebb
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerFeedback.h
@@ -0,0 +1,151 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarkerFeedback_h
+#define _ROS_visualization_msgs_InteractiveMarkerFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Point.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarkerFeedback : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _client_id_type;
+      _client_id_type client_id;
+      typedef const char* _marker_name_type;
+      _marker_name_type marker_name;
+      typedef const char* _control_name_type;
+      _control_name_type control_name;
+      typedef uint8_t _event_type_type;
+      _event_type_type event_type;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type pose;
+      typedef uint32_t _menu_entry_id_type;
+      _menu_entry_id_type menu_entry_id;
+      typedef geometry_msgs::Point _mouse_point_type;
+      _mouse_point_type mouse_point;
+      typedef bool _mouse_point_valid_type;
+      _mouse_point_valid_type mouse_point_valid;
+      enum { KEEP_ALIVE =  0 };
+      enum { POSE_UPDATE =  1 };
+      enum { MENU_SELECT =  2 };
+      enum { BUTTON_CLICK =  3 };
+      enum { MOUSE_DOWN =  4 };
+      enum { MOUSE_UP =  5 };
+
+    InteractiveMarkerFeedback():
+      header(),
+      client_id(""),
+      marker_name(""),
+      control_name(""),
+      event_type(0),
+      pose(),
+      menu_entry_id(0),
+      mouse_point(),
+      mouse_point_valid(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_client_id = strlen(this->client_id);
+      varToArr(outbuffer + offset, length_client_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->client_id, length_client_id);
+      offset += length_client_id;
+      uint32_t length_marker_name = strlen(this->marker_name);
+      varToArr(outbuffer + offset, length_marker_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->marker_name, length_marker_name);
+      offset += length_marker_name;
+      uint32_t length_control_name = strlen(this->control_name);
+      varToArr(outbuffer + offset, length_control_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->control_name, length_control_name);
+      offset += length_control_name;
+      *(outbuffer + offset + 0) = (this->event_type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->event_type);
+      offset += this->pose.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->menu_entry_id >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->menu_entry_id >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->menu_entry_id >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->menu_entry_id >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->menu_entry_id);
+      offset += this->mouse_point.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_mouse_point_valid;
+      u_mouse_point_valid.real = this->mouse_point_valid;
+      *(outbuffer + offset + 0) = (u_mouse_point_valid.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->mouse_point_valid);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_client_id;
+      arrToVar(length_client_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_client_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_client_id-1]=0;
+      this->client_id = (char *)(inbuffer + offset-1);
+      offset += length_client_id;
+      uint32_t length_marker_name;
+      arrToVar(length_marker_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_marker_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_marker_name-1]=0;
+      this->marker_name = (char *)(inbuffer + offset-1);
+      offset += length_marker_name;
+      uint32_t length_control_name;
+      arrToVar(length_control_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_control_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_control_name-1]=0;
+      this->control_name = (char *)(inbuffer + offset-1);
+      offset += length_control_name;
+      this->event_type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->event_type);
+      offset += this->pose.deserialize(inbuffer + offset);
+      this->menu_entry_id =  ((uint32_t) (*(inbuffer + offset)));
+      this->menu_entry_id |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->menu_entry_id |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->menu_entry_id |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->menu_entry_id);
+      offset += this->mouse_point.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_mouse_point_valid;
+      u_mouse_point_valid.base = 0;
+      u_mouse_point_valid.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->mouse_point_valid = u_mouse_point_valid.real;
+      offset += sizeof(this->mouse_point_valid);
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarkerFeedback"; };
+    const char * getMD5(){ return "ab0f1eee058667e28c19ff3ffc3f4b78"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerInit.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerInit.h
new file mode 100644
index 0000000..a6fb154
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerInit.h
@@ -0,0 +1,105 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarkerInit_h
+#define _ROS_visualization_msgs_InteractiveMarkerInit_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "visualization_msgs/InteractiveMarker.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarkerInit : public ros::Msg
+  {
+    public:
+      typedef const char* _server_id_type;
+      _server_id_type server_id;
+      typedef uint64_t _seq_num_type;
+      _seq_num_type seq_num;
+      uint32_t markers_length;
+      typedef visualization_msgs::InteractiveMarker _markers_type;
+      _markers_type st_markers;
+      _markers_type * markers;
+
+    InteractiveMarkerInit():
+      server_id(""),
+      seq_num(0),
+      markers_length(0), markers(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_server_id = strlen(this->server_id);
+      varToArr(outbuffer + offset, length_server_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->server_id, length_server_id);
+      offset += length_server_id;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_seq_num;
+      u_seq_num.real = this->seq_num;
+      *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->seq_num);
+      *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->markers_length);
+      for( uint32_t i = 0; i < markers_length; i++){
+      offset += this->markers[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_server_id;
+      arrToVar(length_server_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_server_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_server_id-1]=0;
+      this->server_id = (char *)(inbuffer + offset-1);
+      offset += length_server_id;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_seq_num;
+      u_seq_num.base = 0;
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->seq_num = u_seq_num.real;
+      offset += sizeof(this->seq_num);
+      uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->markers_length);
+      if(markers_lengthT > markers_length)
+        this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
+      markers_length = markers_lengthT;
+      for( uint32_t i = 0; i < markers_length; i++){
+      offset += this->st_markers.deserialize(inbuffer + offset);
+        memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarkerInit"; };
+    const char * getMD5(){ return "d5f2c5045a72456d228676ab91048734"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerPose.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerPose.h
new file mode 100644
index 0000000..f46032a
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerPose.h
@@ -0,0 +1,67 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarkerPose_h
+#define _ROS_visualization_msgs_InteractiveMarkerPose_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarkerPose : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type pose;
+      typedef const char* _name_type;
+      _name_type name;
+
+    InteractiveMarkerPose():
+      header(),
+      pose(),
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->pose.serialize(outbuffer + offset);
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->pose.deserialize(inbuffer + offset);
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarkerPose"; };
+    const char * getMD5(){ return "a6e6833209a196a38d798dadb02c81f8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerUpdate.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerUpdate.h
new file mode 100644
index 0000000..8cea6ca
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/InteractiveMarkerUpdate.h
@@ -0,0 +1,177 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarkerUpdate_h
+#define _ROS_visualization_msgs_InteractiveMarkerUpdate_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "visualization_msgs/InteractiveMarker.h"
+#include "visualization_msgs/InteractiveMarkerPose.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarkerUpdate : public ros::Msg
+  {
+    public:
+      typedef const char* _server_id_type;
+      _server_id_type server_id;
+      typedef uint64_t _seq_num_type;
+      _seq_num_type seq_num;
+      typedef uint8_t _type_type;
+      _type_type type;
+      uint32_t markers_length;
+      typedef visualization_msgs::InteractiveMarker _markers_type;
+      _markers_type st_markers;
+      _markers_type * markers;
+      uint32_t poses_length;
+      typedef visualization_msgs::InteractiveMarkerPose _poses_type;
+      _poses_type st_poses;
+      _poses_type * poses;
+      uint32_t erases_length;
+      typedef char* _erases_type;
+      _erases_type st_erases;
+      _erases_type * erases;
+      enum { KEEP_ALIVE =  0 };
+      enum { UPDATE =  1 };
+
+    InteractiveMarkerUpdate():
+      server_id(""),
+      seq_num(0),
+      type(0),
+      markers_length(0), markers(NULL),
+      poses_length(0), poses(NULL),
+      erases_length(0), erases(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_server_id = strlen(this->server_id);
+      varToArr(outbuffer + offset, length_server_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->server_id, length_server_id);
+      offset += length_server_id;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_seq_num;
+      u_seq_num.real = this->seq_num;
+      *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->seq_num);
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->type);
+      *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->markers_length);
+      for( uint32_t i = 0; i < markers_length; i++){
+      offset += this->markers[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->poses_length);
+      for( uint32_t i = 0; i < poses_length; i++){
+      offset += this->poses[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->erases_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->erases_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->erases_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->erases_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->erases_length);
+      for( uint32_t i = 0; i < erases_length; i++){
+      uint32_t length_erasesi = strlen(this->erases[i]);
+      varToArr(outbuffer + offset, length_erasesi);
+      offset += 4;
+      memcpy(outbuffer + offset, this->erases[i], length_erasesi);
+      offset += length_erasesi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_server_id;
+      arrToVar(length_server_id, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_server_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_server_id-1]=0;
+      this->server_id = (char *)(inbuffer + offset-1);
+      offset += length_server_id;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_seq_num;
+      u_seq_num.base = 0;
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->seq_num = u_seq_num.real;
+      offset += sizeof(this->seq_num);
+      this->type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->type);
+      uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->markers_length);
+      if(markers_lengthT > markers_length)
+        this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
+      markers_length = markers_lengthT;
+      for( uint32_t i = 0; i < markers_length; i++){
+      offset += this->st_markers.deserialize(inbuffer + offset);
+        memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
+      }
+      uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->poses_length);
+      if(poses_lengthT > poses_length)
+        this->poses = (visualization_msgs::InteractiveMarkerPose*)realloc(this->poses, poses_lengthT * sizeof(visualization_msgs::InteractiveMarkerPose));
+      poses_length = poses_lengthT;
+      for( uint32_t i = 0; i < poses_length; i++){
+      offset += this->st_poses.deserialize(inbuffer + offset);
+        memcpy( &(this->poses[i]), &(this->st_poses), sizeof(visualization_msgs::InteractiveMarkerPose));
+      }
+      uint32_t erases_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      erases_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->erases_length);
+      if(erases_lengthT > erases_length)
+        this->erases = (char**)realloc(this->erases, erases_lengthT * sizeof(char*));
+      erases_length = erases_lengthT;
+      for( uint32_t i = 0; i < erases_length; i++){
+      uint32_t length_st_erases;
+      arrToVar(length_st_erases, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_erases; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_erases-1]=0;
+      this->st_erases = (char *)(inbuffer + offset-1);
+      offset += length_st_erases;
+        memcpy( &(this->erases[i]), &(this->st_erases), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarkerUpdate"; };
+    const char * getMD5(){ return "710d308d0a9276d65945e92dd30b3946"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/Marker.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/Marker.h
new file mode 100644
index 0000000..1c6e1b2
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/Marker.h
@@ -0,0 +1,312 @@
+#ifndef _ROS_visualization_msgs_Marker_h
+#define _ROS_visualization_msgs_Marker_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Vector3.h"
+#include "std_msgs/ColorRGBA.h"
+#include "ros/duration.h"
+#include "geometry_msgs/Point.h"
+
+namespace visualization_msgs
+{
+
+  class Marker : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _ns_type;
+      _ns_type ns;
+      typedef int32_t _id_type;
+      _id_type id;
+      typedef int32_t _type_type;
+      _type_type type;
+      typedef int32_t _action_type;
+      _action_type action;
+      typedef geometry_msgs::Pose _pose_type;
+      _pose_type pose;
+      typedef geometry_msgs::Vector3 _scale_type;
+      _scale_type scale;
+      typedef std_msgs::ColorRGBA _color_type;
+      _color_type color;
+      typedef ros::Duration _lifetime_type;
+      _lifetime_type lifetime;
+      typedef bool _frame_locked_type;
+      _frame_locked_type frame_locked;
+      uint32_t points_length;
+      typedef geometry_msgs::Point _points_type;
+      _points_type st_points;
+      _points_type * points;
+      uint32_t colors_length;
+      typedef std_msgs::ColorRGBA _colors_type;
+      _colors_type st_colors;
+      _colors_type * colors;
+      typedef const char* _text_type;
+      _text_type text;
+      typedef const char* _mesh_resource_type;
+      _mesh_resource_type mesh_resource;
+      typedef bool _mesh_use_embedded_materials_type;
+      _mesh_use_embedded_materials_type mesh_use_embedded_materials;
+      enum { ARROW = 0 };
+      enum { CUBE = 1 };
+      enum { SPHERE = 2 };
+      enum { CYLINDER = 3 };
+      enum { LINE_STRIP = 4 };
+      enum { LINE_LIST = 5 };
+      enum { CUBE_LIST = 6 };
+      enum { SPHERE_LIST = 7 };
+      enum { POINTS = 8 };
+      enum { TEXT_VIEW_FACING = 9 };
+      enum { MESH_RESOURCE = 10 };
+      enum { TRIANGLE_LIST = 11 };
+      enum { ADD = 0 };
+      enum { MODIFY = 0 };
+      enum { DELETE = 2 };
+      enum { DELETEALL = 3 };
+
+    Marker():
+      header(),
+      ns(""),
+      id(0),
+      type(0),
+      action(0),
+      pose(),
+      scale(),
+      color(),
+      lifetime(),
+      frame_locked(0),
+      points_length(0), points(NULL),
+      colors_length(0), colors(NULL),
+      text(""),
+      mesh_resource(""),
+      mesh_use_embedded_materials(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_ns = strlen(this->ns);
+      varToArr(outbuffer + offset, length_ns);
+      offset += 4;
+      memcpy(outbuffer + offset, this->ns, length_ns);
+      offset += length_ns;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.real = this->id;
+      *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_type;
+      u_type.real = this->type;
+      *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_type.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_type.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_type.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->type);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_action;
+      u_action.real = this->action;
+      *(outbuffer + offset + 0) = (u_action.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_action.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_action.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_action.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->action);
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->scale.serialize(outbuffer + offset);
+      offset += this->color.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->lifetime.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->lifetime.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->lifetime.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->lifetime.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->lifetime.sec);
+      *(outbuffer + offset + 0) = (this->lifetime.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->lifetime.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->lifetime.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->lifetime.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->lifetime.nsec);
+      union {
+        bool real;
+        uint8_t base;
+      } u_frame_locked;
+      u_frame_locked.real = this->frame_locked;
+      *(outbuffer + offset + 0) = (u_frame_locked.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->frame_locked);
+      *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->points_length);
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->colors_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->colors_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->colors_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->colors_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->colors_length);
+      for( uint32_t i = 0; i < colors_length; i++){
+      offset += this->colors[i].serialize(outbuffer + offset);
+      }
+      uint32_t length_text = strlen(this->text);
+      varToArr(outbuffer + offset, length_text);
+      offset += 4;
+      memcpy(outbuffer + offset, this->text, length_text);
+      offset += length_text;
+      uint32_t length_mesh_resource = strlen(this->mesh_resource);
+      varToArr(outbuffer + offset, length_mesh_resource);
+      offset += 4;
+      memcpy(outbuffer + offset, this->mesh_resource, length_mesh_resource);
+      offset += length_mesh_resource;
+      union {
+        bool real;
+        uint8_t base;
+      } u_mesh_use_embedded_materials;
+      u_mesh_use_embedded_materials.real = this->mesh_use_embedded_materials;
+      *(outbuffer + offset + 0) = (u_mesh_use_embedded_materials.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->mesh_use_embedded_materials);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_ns;
+      arrToVar(length_ns, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_ns; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_ns-1]=0;
+      this->ns = (char *)(inbuffer + offset-1);
+      offset += length_ns;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.base = 0;
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->id = u_id.real;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_type;
+      u_type.base = 0;
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->type = u_type.real;
+      offset += sizeof(this->type);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_action;
+      u_action.base = 0;
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->action = u_action.real;
+      offset += sizeof(this->action);
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->scale.deserialize(inbuffer + offset);
+      offset += this->color.deserialize(inbuffer + offset);
+      this->lifetime.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->lifetime.sec);
+      this->lifetime.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->lifetime.nsec);
+      union {
+        bool real;
+        uint8_t base;
+      } u_frame_locked;
+      u_frame_locked.base = 0;
+      u_frame_locked.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->frame_locked = u_frame_locked.real;
+      offset += sizeof(this->frame_locked);
+      uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->points_length);
+      if(points_lengthT > points_length)
+        this->points = (geometry_msgs::Point*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point));
+      points_length = points_lengthT;
+      for( uint32_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point));
+      }
+      uint32_t colors_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      colors_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      colors_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      colors_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->colors_length);
+      if(colors_lengthT > colors_length)
+        this->colors = (std_msgs::ColorRGBA*)realloc(this->colors, colors_lengthT * sizeof(std_msgs::ColorRGBA));
+      colors_length = colors_lengthT;
+      for( uint32_t i = 0; i < colors_length; i++){
+      offset += this->st_colors.deserialize(inbuffer + offset);
+        memcpy( &(this->colors[i]), &(this->st_colors), sizeof(std_msgs::ColorRGBA));
+      }
+      uint32_t length_text;
+      arrToVar(length_text, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_text; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_text-1]=0;
+      this->text = (char *)(inbuffer + offset-1);
+      offset += length_text;
+      uint32_t length_mesh_resource;
+      arrToVar(length_mesh_resource, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_mesh_resource; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_mesh_resource-1]=0;
+      this->mesh_resource = (char *)(inbuffer + offset-1);
+      offset += length_mesh_resource;
+      union {
+        bool real;
+        uint8_t base;
+      } u_mesh_use_embedded_materials;
+      u_mesh_use_embedded_materials.base = 0;
+      u_mesh_use_embedded_materials.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->mesh_use_embedded_materials = u_mesh_use_embedded_materials.real;
+      offset += sizeof(this->mesh_use_embedded_materials);
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/Marker"; };
+    const char * getMD5(){ return "4048c9de2a16f4ae8e0538085ebf1b97"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/MarkerArray.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/MarkerArray.h
new file mode 100644
index 0000000..20d1fce
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/MarkerArray.h
@@ -0,0 +1,64 @@
+#ifndef _ROS_visualization_msgs_MarkerArray_h
+#define _ROS_visualization_msgs_MarkerArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "visualization_msgs/Marker.h"
+
+namespace visualization_msgs
+{
+
+  class MarkerArray : public ros::Msg
+  {
+    public:
+      uint32_t markers_length;
+      typedef visualization_msgs::Marker _markers_type;
+      _markers_type st_markers;
+      _markers_type * markers;
+
+    MarkerArray():
+      markers_length(0), markers(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->markers_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->markers_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->markers_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->markers_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->markers_length);
+      for( uint32_t i = 0; i < markers_length; i++){
+      offset += this->markers[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t markers_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      markers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->markers_length);
+      if(markers_lengthT > markers_length)
+        this->markers = (visualization_msgs::Marker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::Marker));
+      markers_length = markers_lengthT;
+      for( uint32_t i = 0; i < markers_length; i++){
+      offset += this->st_markers.deserialize(inbuffer + offset);
+        memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::Marker));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/MarkerArray"; };
+    const char * getMD5(){ return "d155b9ce5188fbaf89745847fd5882d7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/MenuEntry.h b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/MenuEntry.h
new file mode 100644
index 0000000..c7b6c23
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/ros_lib/visualization_msgs/MenuEntry.h
@@ -0,0 +1,108 @@
+#ifndef _ROS_visualization_msgs_MenuEntry_h
+#define _ROS_visualization_msgs_MenuEntry_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace visualization_msgs
+{
+
+  class MenuEntry : public ros::Msg
+  {
+    public:
+      typedef uint32_t _id_type;
+      _id_type id;
+      typedef uint32_t _parent_id_type;
+      _parent_id_type parent_id;
+      typedef const char* _title_type;
+      _title_type title;
+      typedef const char* _command_type;
+      _command_type command;
+      typedef uint8_t _command_type_type;
+      _command_type_type command_type;
+      enum { FEEDBACK = 0 };
+      enum { ROSRUN = 1 };
+      enum { ROSLAUNCH = 2 };
+
+    MenuEntry():
+      id(0),
+      parent_id(0),
+      title(""),
+      command(""),
+      command_type(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->id >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->id >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->id >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->id >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->id);
+      *(outbuffer + offset + 0) = (this->parent_id >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->parent_id >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->parent_id >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->parent_id >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->parent_id);
+      uint32_t length_title = strlen(this->title);
+      varToArr(outbuffer + offset, length_title);
+      offset += 4;
+      memcpy(outbuffer + offset, this->title, length_title);
+      offset += length_title;
+      uint32_t length_command = strlen(this->command);
+      varToArr(outbuffer + offset, length_command);
+      offset += 4;
+      memcpy(outbuffer + offset, this->command, length_command);
+      offset += length_command;
+      *(outbuffer + offset + 0) = (this->command_type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->command_type);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->id =  ((uint32_t) (*(inbuffer + offset)));
+      this->id |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->id |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->id |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->id);
+      this->parent_id =  ((uint32_t) (*(inbuffer + offset)));
+      this->parent_id |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->parent_id |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->parent_id |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->parent_id);
+      uint32_t length_title;
+      arrToVar(length_title, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_title; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_title-1]=0;
+      this->title = (char *)(inbuffer + offset-1);
+      offset += length_title;
+      uint32_t length_command;
+      arrToVar(length_command, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_command; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_command-1]=0;
+      this->command = (char *)(inbuffer + offset-1);
+      offset += length_command;
+      this->command_type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->command_type);
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/MenuEntry"; };
+    const char * getMD5(){ return "b90ec63024573de83b57aa93eb39be2d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff --git a/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/x64/Debug/Kinect_V2.exe b/codes/kinect_v2_skeleton_tracking-master/Kinect_V2_Windows/x64/Debug/Kinect_V2.exe
new file mode 100644
index 0000000..cd01196
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diff --git a/codes/kinect_v2_skeleton_tracking-master/README.md b/codes/kinect_v2_skeleton_tracking-master/README.md
new file mode 100644
index 0000000..44a4462
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/README.md
@@ -0,0 +1,67 @@
+Skeleton Tracking Based on Kinect Sensor V2
+===========================================
+
+This work is to realize communication between Windows and Ubuntu to interact skeleton tracking data based on [rosserial_windows](http://wiki.ros.org/rosserial_windows). Windows's advantage is that its kinect application is easily to install, and it has powerful Kinect SDK to get and process skeleton tracking data directly. Ubuntus's advantage is that it support ROS, and can make robotics system access these data. All of these inspired me to combine these two system, and provide a basis for roboticists to do further work on skeleton tracking.
+
+For this repository, `Kinect_V2_Windows` is folder should only run on Windows, `kinect_v2_Ubuntu` is folder should only run on Ubuntu.
+
+**note**: Before everything starting, make sure your Windows and Ubuntu both connect to the same local network to secure the communication between their ROS clients. And also make sure to plugin Kinect Sensor V2 to USB3.0 port on your windows computer.
+    
+### Windows
+1. Download and install Kinect for Windows SDK 2.0 from [here](https://www.microsoft.com/en-us/download/details.aspx?id=44561)
+
+2. Verify the successful installation in Device Manager.
+
+3. Open `Kinect v2`, and then install `Kinect Configuration Verifier` to check the success of installation.
+
+### Ubuntu
+1. Clone the kinect v2 repository to your ROS workspace and do catkin_make
+    ```bash
+    cd ~/catkin_ws/src
+    git clone git@github.com:msr-peng/kinect_v2_skeleton_tracking.git
+    cd kinect_v2_skeleton_tracking && sudo cp -r kinect_v2 ../ && cd ..
+    rm -r kinect_v2_skeleton_tracking
+    cd .. && catkin_make
+
+2. Get your Ubuntu IP address in local network
+    ```bash
+    ifconfig
+    ```
+    Then you should get the IP address which behind "inet addr:"
+
+3. Start ROS and rosserial_server
+    
+    In order for rosserial_windows to communicate with the ROS master, a server socket is needed to connect. Now I just uses a TCP socket, but in theory it is also possible to sue a serial port. On the ROS master, start the ROS core:
+    ```bash
+    roscore
+    ```
+    In a separate terminal, start the rosserial server:
+    ```bash
+    rosrun rosserial_server socket_node
+    ```
+    Then go back to your windows machine and run the app.
+
+### Windows
+1. Clone the repository, and enter into Kinect_V2 folder
+
+2. Set Ubuntu IP address in Windows app
+    Go to `Kinect_V2.cpp` source file, find line
+        char master_uri[] = "192.168.0.104";
+    Then replace the string with your Ubuntu IP address your just got.
+
+3. Run Kinect_V2 solution in Visual Studio
+    Then windows should send skeleton tracking data to Ubuntu.
+
+### Ubuntu
+1. Process skeleton tracking data, publish them as `TF` forms
+    ```bash
+    rosrun kinect_v2 show_joint
+    ```
+
+2. Visualize skeleton tracking data on `Rviz` (basic frame is `/kinect_v2`)
+    ```bash
+    rosrun rviz rviz -f kinect_v2
+    ```
+    Then in `Rviz`, add `TF` to display, you should see the frames of skeleton keypoints.
+
+For more potential applications, please refer to [rosserial_windows](http://wiki.ros.org/rosserial_windows).
diff --git a/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/.kdev4/kinect_v2.kdev4 b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/.kdev4/kinect_v2.kdev4
new file mode 100644
index 0000000..54e07ca
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/.kdev4/kinect_v2.kdev4
@@ -0,0 +1,23 @@
+[Buildset]
+BuildItems=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x01\x00\x00\x00\x12\x00k\x00i\x00n\x00e\x00c\x00t\x00_\x00v\x002)
+
+[CMake]
+Build Directory Count=1
+Current Build Directory Index=0
+ProjectRootRelative=
+
+[CMake][CMake Build Directory 0]
+Build Directory Path=file:///home/peng/catkin_ws/src/kinect_v2/build
+Build Type=Debug
+CMake Binary=file:///usr/bin/cmake
+Environment Profile=
+Extra Arguments=
+Install Directory=
+
+[Defines And Includes][Compiler]
+Name=GCC
+Path=gcc
+Type=GCC
+
+[Project]
+VersionControlSupport=kdevgit
diff --git a/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/CMakeLists.txt b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/CMakeLists.txt
new file mode 100644
index 0000000..01d597c
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/CMakeLists.txt
@@ -0,0 +1,200 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(kinect_v2)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  roscpp
+  rospy
+  std_msgs
+  tf2
+  tf2_ros
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"*-
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  BodyJoints.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs   std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES kinect_v2
+CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs message_runtime
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/kinect_v2.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(show_joint src/show_joint.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(show_joint kinect_v2_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(show_joint ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_kinect_v2.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/kinect_v2.kdev4 b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/kinect_v2.kdev4
new file mode 100644
index 0000000..77452a0
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/kinect_v2.kdev4
@@ -0,0 +1,3 @@
+[Project]
+Manager=KDevCMakeManager
+Name=kinect_v2
diff --git a/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/msg/BodyJoints.msg b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/msg/BodyJoints.msg
new file mode 100644
index 0000000..2964e41
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/msg/BodyJoints.msg
@@ -0,0 +1,3 @@
+int32 user_id
+string tracked
+geometry_msgs/Pose[16] joints
diff --git a/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/package.xml b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/package.xml
new file mode 100644
index 0000000..ff3bc72
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/package.xml
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>kinect_v2</name>
+  <version>0.0.0</version>
+  <description>The kinect_v2 package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="peng@todo.todo">peng</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/kinect_v2</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <build_depend>message_generation</build_depend>
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <exec_depend>message_runtime</exec_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/src/show_joint.cpp b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/src/show_joint.cpp
new file mode 100644
index 0000000..916c777
--- /dev/null
+++ b/codes/kinect_v2_skeleton_tracking-master/kinect_v2_Ubuntu/src/show_joint.cpp
@@ -0,0 +1,109 @@
+#include <ros/ros.h>
+#include <string>
+#include <cstdio>
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2/convert.h>
+#include <std_msgs/String.h>
+#include <geometry_msgs/Pose.h>
+#include <geometry_msgs/PoseArray.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <kinect_v2/BodyJoints.h>
+#include <iostream>
+
+using namespace std;
+
+const string get_key_name(int n);
+void publishTransform(const kinect_v2::BodyJoints &user_i, int user_id, int j);
+
+void callback_0(const kinect_v2::BodyJoints &user_0)
+{
+	for (int i = 0; i < 16; ++i)
+		publishTransform(user_0, 0, i);
+}
+
+void callback_1(const kinect_v2::BodyJoints &user_1)
+{
+	for (int i = 0; i < 16; ++i)
+		publishTransform(user_1, 1, i);
+}
+
+void callback_2(const kinect_v2::BodyJoints &user_2)
+{
+	for (int i = 0; i < 16; ++i)
+		publishTransform(user_2, 2, i);
+}
+
+void callback_3(const kinect_v2::BodyJoints &user_3)
+{
+	for (int i = 0; i < 16; ++i)
+		publishTransform(user_3, 3, i);
+}
+
+void callback_4(const kinect_v2::BodyJoints &user_4)
+{
+	for (int i = 0; i < 16; ++i)
+		publishTransform(user_4, 4, i);
+}
+
+void callback_5(const kinect_v2::BodyJoints &user_5)
+{
+	for (int i = 0; i < 16; ++i)
+		publishTransform(user_5, 5, i);
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "skeleton_tracking");
+	ros::NodeHandle n;
+	ros::Subscriber sub_0 = n.subscribe("user_0", 1, &callback_0);
+	ros::Subscriber sub_1 = n.subscribe("user_1", 1, &callback_1);
+	ros::Subscriber sub_2 = n.subscribe("user_2", 1, &callback_2);
+	ros::Subscriber sub_3 = n.subscribe("user_3", 1, &callback_3);
+	ros::Subscriber sub_4 = n.subscribe("user_4", 1, &callback_4);
+	ros::Subscriber sub_5 = n.subscribe("user_5", 1, &callback_5);
+	ros::spin();
+
+	return 0;
+}
+
+const string get_key_name(int n)
+{
+	switch (n)
+	{
+		case	0:return	"base_spine"; break;
+		case	1:return	"neck"; break;
+		case	2:return	"head"; break;
+		case	3:return	"left_shoulder"; break;
+		case	4:return	"left_elbow"; break;
+		case	5:return	"left_hand"; break;
+		case	6:return	"right_shoulder"; break;
+		case	7:return	"right_elbow"; break;
+		case	8:return	"right_hand"; break;
+		case	9:return	"left_hip"; break;
+		case	10:return	"left_knee"; break;
+		case	11:return	"left_ankle"; break;
+		case	12:return	"right_hip"; break;
+		case	13:return	"right_knee"; break;
+		case	14:return	"right_ankle"; break;
+		case	15:return	"shoulder_spine"; break;
+	}
+}
+
+void publishTransform(const kinect_v2::BodyJoints &user_i, int user_id, int joint_id)
+{
+	static tf2_ros::TransformBroadcaster br;
+	geometry_msgs::TransformStamped transformStamped;
+
+	transformStamped.header.stamp = ros::Time::now();
+	transformStamped.header.frame_id = "kinect_v2";
+	transformStamped.child_frame_id = get_key_name(joint_id) + "_" + to_string(user_id);
+	transformStamped.transform.translation.x = user_i.joints[joint_id].position.x;
+	transformStamped.transform.translation.y = user_i.joints[joint_id].position.y;
+	transformStamped.transform.translation.z = user_i.joints[joint_id].position.z;
+	transformStamped.transform.rotation.w = user_i.joints[joint_id].orientation.w;
+	transformStamped.transform.rotation.x = user_i.joints[joint_id].orientation.x;
+	transformStamped.transform.rotation.y = user_i.joints[joint_id].orientation.y;
+	transformStamped.transform.rotation.z = user_i.joints[joint_id].orientation.z;
+
+	br.sendTransform(transformStamped);
+}
\ No newline at end of file