diff --git a/netutil.cpp b/netutil.cpp
new file mode 100644
index 0000000..1cb8ac0
--- /dev/null
+++ b/netutil.cpp
@@ -0,0 +1,49 @@
+#include "netutil.h"
+
+/**
+  * \file   netutil.cpp
+  * \author Alessandro Crespi
+  * \date   April 2009
+  * \brief  Simple network utilities
+  */
+
+uint32_t gethostaddress(const char* hn)
+{
+  struct hostent *hen;
+  uint32_t addr;
+  addr = inet_addr(hn);
+  if (addr != INADDR_ANY && addr != INADDR_NONE) {
+    return addr;
+  }
+  hen = gethostbyname(hn);
+  if (hen != NULL) {
+    if (sizeof(addr) != hen->h_length) {
+      fprintf(stderr, "Internal error, address length mismatch.\n");
+      _exit(2);
+    }
+    memcpy(&addr, hen->h_addr_list[0], hen->h_length);
+    return addr;
+  } else {
+    return INADDR_NONE;
+  }
+}
+
+// Receives a block of data of the specified size
+int block_recv(const int sk, uint8_t* data, unsigned int len)
+{
+  int i, j;
+
+  j = 0;
+
+  while (len > 0) {
+    i = recv(sk, (char*) data, len, 0);
+    if (i==0 || i==-1) {
+      return -2;
+    }
+    data += i;
+    len -= i;
+    j += i;
+  }
+
+  return j;
+}
diff --git a/netutil.h b/netutil.h
new file mode 100644
index 0000000..f63cccd
--- /dev/null
+++ b/netutil.h
@@ -0,0 +1,28 @@
+#ifndef __NETUTIL_H
+#define __NETUTIL_H
+
+/**
+  * \file   netutil.h
+  * \author Alessandro Crespi
+  * \date   April 2009
+  * \brief  Simple network utilities header file
+  */
+
+#include <cstdio>
+#include <cstring>
+#include <stdint.h>
+#ifdef _WIN32
+  #include <windows.h>
+#else
+  #include <arpa/inet.h>
+  #include <netinet/in.h>
+  #include <netinet/tcp.h>
+  #include <netdb.h>
+  #include <unistd.h>
+#endif
+
+uint32_t gethostaddress(const char* hn);
+int block_recv(const int sk, uint8_t* data, unsigned int len);
+
+#endif
+
diff --git a/test.cpp b/test.cpp
new file mode 100644
index 0000000..994bb57
--- /dev/null
+++ b/test.cpp
@@ -0,0 +1,61 @@
+#include <iostream>
+#include <cstdlib>
+
+/**
+  * \file   test.cpp
+  * \author Alessandro Crespi
+  * \date   April 2009, updated February 2020
+  * \brief  Example program to demonstrate the use of the tracking client class
+  */
+
+#ifdef _WIN32
+#include <windows.h>
+#define usleep(x) Sleep((x)/1000);
+#endif
+
+#include "trkcli.h"
+
+using namespace std;
+
+int main()
+{
+  // declares an instance of the tracking client
+  CTrackingClient trk;
+
+  // connects to the server
+  if (!trk.connect("biorobpc6.epfl.ch", 10502)) 
+    return 1;
+  }
+  
+  // starts a tracking server-side
+  if (!trk.start_tracking_file("example/test1.csv")) {
+    return 2;
+  }
+  
+  // displays the first detected point 10 times at 1-sec intervals
+  for (int i = 0; i<10; i++) {
+    uint32_t t;
+    // updates the points from the tracking system
+    if (!trk.update(t)) {
+      return 3;
+    }
+    // gets the ID of the first point
+    int id = trk.get_first_id();
+    if (id != -1) {
+      double x, y;
+      // retrieves the x/y coordinates of that point
+      if (trk.get_pos(id, x, y)) {
+        cout << "pt " << id << ": " << x << ", " << y << "." << endl;
+      }
+    }
+    const track_point* pt;
+    int cnt;
+    if (trk.get_pos_table(cnt)) {
+      cout << cnt << " points in table." << endl;
+    }
+    usleep(1000000);
+  }
+  
+  // stops the server-side tracking
+  trk.stop_tracking_file();
+}
diff --git a/trkcli.cpp b/trkcli.cpp
new file mode 100644
index 0000000..8cdf90c
--- /dev/null
+++ b/trkcli.cpp
@@ -0,0 +1,209 @@
+/**
+  * \file   trkcli.cpp
+  * \author Alessandro Crespi
+  * \date   15.4.2009
+  * \brief  Class for accessing the BIOROB LED tracking system over TCP/IP
+  */
+
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <cmath>
+
+#ifdef _WIN32
+  #include <winsock.h>
+  #include "wperror.h"
+  #define perror wperror
+#else
+  #include <unistd.h>
+  #include <arpa/inet.h>
+  #include <netinet/in.h>
+  #include <netinet/tcp.h>
+  #include <netdb.h>
+  #include <sys/socket.h>
+  #include <sys/types.h>
+  #define closesocket ::close
+#endif
+
+#include "trkcli.h"
+#include "netutil.h"
+
+CTrackingClient::CTrackingClient()
+{
+#ifdef _WIN32
+  WSADATA ws;
+  WSAStartup(0x0101, &ws);
+#endif
+  connected = false;
+  pos_count = 0;
+  memset(positions, 0, sizeof(positions));
+}
+
+CTrackingClient::~CTrackingClient()
+{
+  if (connected) closesocket(sock);
+#ifdef _WIN32
+  WSACleanup();
+#endif
+}
+
+bool CTrackingClient::connect(const char* hostname, u_short port)
+{
+  if (connected) {
+    fprintf(stderr, "Tracking client already connected.\n");
+    return false;
+  }
+  u_long IP = gethostaddress(hostname);
+  if (IP==INADDR_NONE) {
+    fprintf(stderr, "Invalid hostname: %s.\n", hostname);
+    return false;
+  }
+  sock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
+  if (sock==-1) return false;
+
+  struct sockaddr_in sai;
+
+  sai.sin_family = AF_INET;
+  sai.sin_port = htons(port);
+  sai.sin_addr.s_addr = IP;
+
+  if (::connect(sock, (sockaddr*) &sai, sizeof(sai))==-1) {
+    fprintf(stderr, "Unable to connect to %s:%d.\n", hostname, port);
+    closesocket(sock);
+    return false;  
+  }
+
+  int i;
+  i = 1;
+#ifdef _WIN32
+  setsockopt(sock, SOL_SOCKET, TCP_NODELAY, (char*) &i, sizeof(i));
+#else
+  setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (char*) &i, sizeof(i));
+#endif
+  connected = true;
+
+  return true;
+}
+
+bool CTrackingClient::start_tracking_file(const char* filename)
+{
+  if (!connected) return false;
+
+  int len = strlen(filename) + 2;
+  char* buf = new char[len + 1];
+  
+  buf[0] = 'S';
+  buf[1] = strlen(filename);
+  strcpy(&buf[2], filename);
+  if (send(sock, buf, len, 0)!=len) {
+    perror("send");
+    closesocket(sock);
+    connected = false;
+    return false;
+  }
+  
+  if (recv(sock, buf, 1, 0)!=1) {
+    perror("recv");
+    closesocket(sock);
+    connected = false;
+    return false;
+  }
+  
+  if (buf[0]!='+') {
+    fprintf(stderr, "Tracking start failed on the server.\n");
+    return false;
+  } else return true;
+
+}
+
+bool CTrackingClient::stop_tracking_file()
+{
+  if (!connected) return false;
+
+  char c('s');
+  if (send(sock, &c, 1, 0)!=1) {
+    perror("send");
+    closesocket(sock);
+    connected = false;
+    return false;
+  }
+  if (recv(sock, &c, 1, 0)!=1) {
+    perror("recv");
+    closesocket(sock);
+    connected = false;
+    return false;
+  }
+  if (c!='+') {
+    fprintf(stderr, "Tracking stop failed on the server.\n");
+    return false;
+  } else return true;
+  
+}
+  
+bool CTrackingClient::update(uint32_t& time)
+{
+  if (!connected) return false;
+  
+  char c('U');
+  if (send(sock, &c, 1, 0)!=1) {
+    perror("send");
+    closesocket(sock);
+    connected = false;
+    return false;
+  }
+  if (recv(sock, (char*) &time, 4, 0)!=4) {
+    perror("recv");
+    closesocket(sock);
+    connected = false;
+    return false;
+  }
+  if (recv(sock, &c, 1, 0)!=1) {
+    perror("recv");
+    closesocket(sock);
+    connected = false;
+    return false;
+  }
+  if (c > MAX_POINTS) {
+    fprintf(stderr, "Error: server wants to return %d spots, only %d allowed.\n", c, MAX_POINTS);
+    fprintf(stderr, "Connection closed.");
+    closesocket(sock);
+    connected = false;
+    return false;
+  }
+  int size = (int) c * sizeof(track_point);
+  if (block_recv(sock, (uint8_t*) positions, size)!=size) {
+    fprintf(stderr, "Error while receiving data block from server, closing connection.\n");
+    closesocket(sock);
+    connected = false;
+    return false;
+  } else pos_count = c;
+  
+  return true;
+}
+
+
+bool CTrackingClient::get_pos(const int id, double &x, double &y)
+{
+  for (int i(0); i<pos_count; i++) {
+    if (positions[i].id==id) {
+      x = positions[i].x;
+      y = positions[i].y;
+      return true;
+    }
+  }
+  return false;
+}
+
+int CTrackingClient::get_first_id()
+{
+  if (pos_count>0)
+    return positions[0].id;
+  else
+    return -1;
+}
+
+const track_point* CTrackingClient::get_pos_table(int& count) const
+{
+  count = pos_count;
+  return positions;
+}
diff --git a/trkcli.h b/trkcli.h
new file mode 100644
index 0000000..6b9e8b2
--- /dev/null
+++ b/trkcli.h
@@ -0,0 +1,63 @@
+#ifndef __TRKCLI_H
+#define __TRKCLI_H
+
+/**
+  * \file   trkcli.h
+  * \author Alessandro Crespi
+  * \date   April 2009, updated February 2020
+  * \brief  Client class to retrieve data from the BIOROB LED tracking system 
+  */
+
+#include <stdint.h>
+
+/// Entry containing the position of a detected point
+struct track_point {
+  int id;    ///< identifier of the point (not persistent across frames), starts from 100 for 2nd camera
+  float x;   ///< X coordinate (in meters)
+  float y;   ///< Y coordinate (in meters)
+} __attribute__((__packed__));
+
+const int MAX_POINTS = 40;
+
+class CTrackingClient {
+
+public:
+
+  CTrackingClient();
+  ~CTrackingClient();
+
+  /// Connects to the specified tracking server
+  bool connect(const char* hostname, u_short port = 10502);
+  
+  /// Starts a server-side log of all the tracking points
+  bool start_tracking_file(const char* filename);
+  /// Stops a previously started tracking log
+  bool stop_tracking_file(void);
+  
+  /// \brief Retrieves the points detected in the current frame
+  /// \param time The timestamp of the returned frame, in an undefined unit (DO NOT USE FOR TIMING)
+  /// \return true if the operation succeeded, false in case of an error (e.g. lost connection)
+  bool update(uint32_t& time);
+  
+  /// \brief Gets the identifier of the first detected point (useful when tracking a single point)
+  /// \return The identifier of the point, or -1 if none are available
+  int get_first_id();
+  
+  /// Extracts the coordinates of the given point (useful when tracking a single point)
+  bool get_pos(const int id, double& x, double& y);
+  
+  /// \brief Gets a pointer to the table of all detected points in the last retrieved frame
+  /// \param count Reference to an integer variable where the number of detected points will be written
+  const track_point* get_pos_table(int& count) const;
+
+private:
+
+  int sock;
+  bool connected;
+  
+  track_point positions[MAX_POINTS];
+  int pos_count;
+
+};
+
+#endif
diff --git a/wperror.cpp b/wperror.cpp
new file mode 100644
index 0000000..8a53db7
--- /dev/null
+++ b/wperror.cpp
@@ -0,0 +1,24 @@
+#include <windows.h>
+#include <stdio.h>
+
+/**
+  * \file   wperror.cpp
+  * \author Alessandro Crespi
+  * \date   March 2009
+  * \brief  perror()-equivalent implementation for Win32
+  */
+
+void wperror(const char* str)
+{
+#ifdef _WIN32
+  DWORD err = GetLastError();
+  char* msg = NULL;
+  
+  FormatMessage(FORMAT_MESSAGE_ALLOCATE_BUFFER | FORMAT_MESSAGE_FROM_SYSTEM | 60,
+    NULL, err, LANG_NEUTRAL, (char*) &msg, 2048, NULL);
+  fprintf(stderr, "%s: %s\n", str, msg);
+  LocalFree(msg);
+#else
+  perror(str);
+#endif
+}
diff --git a/wperror.h b/wperror.h
new file mode 100644
index 0000000..9956c9e
--- /dev/null
+++ b/wperror.h
@@ -0,0 +1,13 @@
+#ifndef __WPERROR_H
+#define __WPERROR_H
+
+/**
+  * \file   wperror.h
+  * \author Alessandro Crespi
+  * \date   March 2009
+  * \brief  perror()-equivalent implementation for Win32
+  */
+
+void wperror(const char* str);
+
+#endif