tracker/trackhat: buffer flush

14 files changed, 486 insertions, 99 deletions

diff --git a/tracker-trackhat/camera.cpp b/tracker-trackhat/camera.cpp
index c744a9f9..1c87229e 100644
--- a/tracker-trackhat/camera.cpp
+++ b/tracker-trackhat/camera.cpp
@@ -32,7 +32,15 @@ QString trackhat_camera::get_active_name() const
 void trackhat_camera::set_fov(pt_camera::f) {}
 void trackhat_camera::show_camera_settings() {}
 
-trackhat_camera::trackhat_camera() = default;
+trackhat_camera::trackhat_camera()
+{
+    s.set_raii_dtor_state(false);
+    t.set_raii_dtor_state(false);
+
+    QObject::connect(t.b.get(), &options::bundle_::changed,
+                     &sig, &trackhat_impl::setting_receiver::settings_changed,
+                     Qt::DirectConnection);
+}
 
 trackhat_camera::~trackhat_camera()
 {
@@ -41,6 +49,13 @@ trackhat_camera::~trackhat_camera()
 
 pt_camera::result trackhat_camera::get_frame(pt_frame& frame_)
 {
+    if (sig.test_and_clear())
+    {
+        set_pt_options();
+        qDebug() << "tracker/trackhat: set regs";
+        init_regs();
+    }
+
     auto& ret = *frame_.as<trackhat_frame>();
     trackhat_frame frame;
     trackHat_ExtendedPoints_t points = {};
@@ -81,6 +96,9 @@ int trackhat_camera::init_regs()
     constexpr uint8_t regs[][3] = {
         { 0x0c, 0x0f, 0xf0 },  // exposure lo
         { 0x0c, 0x10, 0x7f },  // exposure hi
+        { 0x00, 0x0b, 0xff },  // blob area max size
+        { 0x00, 0x0c, 0x03 },  // blob area min size
+        { 0x00, 0x01, 0x01 },  // bank0 sync
         { 0x01, 0x01, 0x01 },  // bank1 sync
     };
 
@@ -98,6 +116,8 @@ bool trackhat_camera::start(const pt_settings&)
 {
     int attempts = 0;
 
+    set_pt_options();
+
     if (status >= th_running)
         return true;
 
diff --git a/tracker-trackhat/dialog.cpp b/tracker-trackhat/dialog.cpp
index e69de29b..c51b0d59 100644
--- a/tracker-trackhat/dialog.cpp
+++ b/tracker-trackhat/dialog.cpp
@@ -0,0 +1,82 @@
+#include "dialog.hpp"
+
+using namespace options;
+
+trackhat_dialog::trackhat_dialog()
+{
+    ui.setupUi(this);
+    poll_tracker_info();
+    poll_timer.setInterval(250);
+
+    struct {
+        const char* name;
+        model_type t;
+    } model_types[] = {
+        { "Cap", model_cap },
+        { "Clip (left)", model_clip_left },
+        { "Clip (right)", model_clip_right },
+        { "Mini Clip (left)", model_mini_clip_left },
+        { "Mini Clip (right)", model_mini_clip_right },
+    };
+
+    ui.model_type->clear();
+
+    for (auto x : model_types)
+        ui.model_type->addItem(QIcon{}, tr(x.name), (QVariant)(int)x.t);
+
+    tie_setting(t.min_pt_size, ui.min_point_size);
+    tie_setting(t.max_pt_size, ui.max_point_size);
+    tie_setting(t.exposure, ui.exposure_slider);
+    tie_setting(t.model, ui.model_type);
+    tie_setting(t.threshold, ui.threshold_slider);
+    tie_setting(t.enable_point_filter, ui.enable_point_filter);
+    tie_setting(t.point_filter_coefficient, ui.point_filter_slider);
+    connect(&t.exposure, value_::value_changed<slider_value>(), ui.exposure_label,
+            [this] { ui.exposure_label->setValue((int)*t.exposure); }, Qt::QueuedConnection);
+    connect(&t.threshold, value_::value_changed<slider_value>(), ui.threshold_label,
+            [this] { ui.threshold_label->setValue((int)*t.threshold); }, Qt::QueuedConnection);
+    connect(&t.point_filter_coefficient, value_::value_changed<slider_value>(), ui.point_filter_label,
+            [this] { ui.point_filter_label->setValue((int)*t.point_filter_coefficient); }, Qt::QueuedConnection);
+    connect(&poll_timer, &QTimer::timeout, this, &trackhat_dialog::poll_tracker_info);
+
+    connect(ui.buttonBox, &QDialogButtonBox::accepted, this, &trackhat_dialog::doOK);
+    connect(ui.buttonBox, &QDialogButtonBox::rejected, this, &trackhat_dialog::doCancel);
+}
+
+void trackhat_dialog::register_tracker(ITracker* tracker)
+{
+    tracker = static_cast<Tracker_PT*>(tracker);
+    poll_timer.start();
+}
+
+void trackhat_dialog::unregister_tracker()
+{
+    tracker = nullptr;
+    poll_timer.stop();
+}
+
+void trackhat_dialog::doOK()
+{
+    s.b->save();
+    t.b->save();
+    close();
+}
+
+void trackhat_dialog::doCancel()
+{
+    close();
+}
+
+void trackhat_dialog::poll_tracker_info()
+{
+    if (!tracker)
+    {
+        poll_timer.stop();
+        ui.status_label->setText(tr("Tracking stopped."));
+        return;
+    }
+
+    ui.status_label->setText(tr("Tracking. %1 points detected.").arg(tracker->get_n_points()));
+}
+
+trackhat_dialog::~trackhat_dialog() = default;
diff --git a/tracker-trackhat/dialog.hpp b/tracker-trackhat/dialog.hpp
index e69de29b..0726a2c0 100644
--- a/tracker-trackhat/dialog.hpp
+++ b/tracker-trackhat/dialog.hpp
@@ -0,0 +1,29 @@
+#pragma once
+#include "trackhat.hpp"
+#include "ui_dialog.h"
+#include "tracker-pt/ftnoir_tracker_pt.h"
+#include "api/plugin-api.hpp"
+#include <QTimer>
+
+class trackhat_dialog : public ITrackerDialog
+{
+    Q_OBJECT
+
+    Ui_trackhat_dialog ui;
+    Tracker_PT* tracker = nullptr;
+    QTimer poll_timer{this};
+
+    pt_settings s{trackhat_metadata::module_name};
+    trackhat_settings t;
+
+public:
+    trackhat_dialog();
+    ~trackhat_dialog() override;
+    void register_tracker(ITracker *tracker) override;
+    void unregister_tracker() override;
+
+public slots:
+    void doOK();
+    void doCancel();
+    void poll_tracker_info();
+};
diff --git a/tracker-trackhat/dialog.ui b/tracker-trackhat/dialog.ui
index db966ab2..ade5f6b2 100644
--- a/tracker-trackhat/dialog.ui
+++ b/tracker-trackhat/dialog.ui
@@ -1,17 +1,27 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>Form</class>
- <widget class="QWidget" name="Form">
+ <class>trackhat_dialog</class>
+ <widget class="QDialog" name="trackhat_dialog">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>415</width>
-    <height>226</height>
+    <width>365</width>
+    <height>334</height>
    </rect>
   </property>
+  <property name="minimumSize">
+   <size>
+    <width>365</width>
+    <height>0</height>
+   </size>
+  </property>
   <property name="windowTitle">
-   <string>TrackHat tracker</string>
+   <string>TrackHat</string>
+  </property>
+  <property name="windowIcon">
+   <iconset resource="trackhat-res.qrc">
+    <normaloff>:/images/trackhat-64x64.png</normaloff>:/images/trackhat-64x64.png</iconset>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
@@ -20,26 +30,6 @@
       <string>Camera</string>
      </property>
      <layout class="QGridLayout" name="gridLayout">
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_3">
-        <property name="text">
-         <string>Threshold</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QSlider" name="threshold_slider">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-       </widget>
-      </item>
       <item row="0" column="1">
        <widget class="QSlider" name="exposure_slider">
         <property name="sizePolicy">
@@ -49,29 +39,18 @@
          </sizepolicy>
         </property>
         <property name="maximum">
-         <number>200</number>
+         <number>65535</number>
+        </property>
+        <property name="pageStep">
+         <number>50</number>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
        </widget>
       </item>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label">
-        <property name="text">
-         <string>Exposure</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_2">
-        <property name="text">
-         <string>Gain</string>
-        </property>
-       </widget>
-      </item>
       <item row="1" column="1">
-       <widget class="QSlider" name="gain_slider">
+       <widget class="QSlider" name="threshold_slider">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
           <horstretch>0</horstretch>
@@ -79,40 +58,56 @@
          </sizepolicy>
         </property>
         <property name="maximum">
-         <number>200</number>
+         <number>191</number>
         </property>
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
        </widget>
       </item>
-      <item row="0" column="2">
-       <widget class="QSpinBox" name="exposure_label">
+      <item row="1" column="2">
+       <widget class="QSpinBox" name="threshold_label">
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
         <property name="readOnly">
          <bool>true</bool>
         </property>
         <property name="buttonSymbols">
          <enum>QAbstractSpinBox::NoButtons</enum>
         </property>
+        <property name="maximum">
+         <number>999</number>
+        </property>
        </widget>
       </item>
-      <item row="1" column="2">
-       <widget class="QSpinBox" name="gain_label">
+      <item row="0" column="2">
+       <widget class="QSpinBox" name="exposure_label">
+        <property name="alignment">
+         <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+        </property>
         <property name="readOnly">
          <bool>true</bool>
         </property>
         <property name="buttonSymbols">
          <enum>QAbstractSpinBox::NoButtons</enum>
         </property>
+        <property name="maximum">
+         <number>65535</number>
+        </property>
        </widget>
       </item>
-      <item row="2" column="2">
-       <widget class="QSpinBox" name="threshold_label">
-        <property name="readOnly">
-         <bool>true</bool>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>Exposure</string>
         </property>
-        <property name="buttonSymbols">
-         <enum>QAbstractSpinBox::NoButtons</enum>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>Threshold</string>
         </property>
        </widget>
       </item>
@@ -142,7 +137,7 @@
        <widget class="QComboBox" name="model_type">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
-          <horstretch>8</horstretch>
+          <horstretch>9</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
@@ -215,8 +210,105 @@
      </layout>
     </widget>
    </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="title">
+      <string>Tracking</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <widget class="QWidget" name="widget" native="true">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <layout class="QHBoxLayout" name="horizontalLayout">
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
+          <number>0</number>
+         </property>
+         <item>
+          <widget class="QCheckBox" name="enable_point_filter">
+           <property name="text">
+            <string>Point filter</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QSlider" name="point_filter_slider">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="maximum">
+            <number>300</number>
+           </property>
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QDoubleSpinBox" name="point_filter_label">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+           <property name="suffix">
+            <string> px</string>
+           </property>
+           <property name="maximum">
+            <double>300.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="status_label">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Status</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="trackhat-res.qrc"/>
+ </resources>
  <connections/>
 </ui>
diff --git a/tracker-trackhat/frame.cpp b/tracker-trackhat/frame.cpp
index 1ae3413f..c008ac87 100644
--- a/tracker-trackhat/frame.cpp
+++ b/tracker-trackhat/frame.cpp
@@ -102,7 +102,6 @@ void trackhat_frame::init_points(trackHat_ExtendedPoints_t points_, double min_s
         if (i < 3 && radius >= min_size && radius <= max_size)
             p.ok = true;
 
-        p.radius = radius;
         p.brightness = pt.m_averageBrightness;
         p.W = std::max(1, pt.m_boundryRigth - pt.m_boundryLeft);
         p.H = std::max(1, pt.m_boundryDown  - pt.m_boundryUp);
diff --git a/tracker-trackhat/lang/nl_NL.ts b/tracker-trackhat/lang/nl_NL.ts
index e375a7a4..1f46e7e3 100644
--- a/tracker-trackhat/lang/nl_NL.ts
+++ b/tracker-trackhat/lang/nl_NL.ts
@@ -2,9 +2,9 @@
 <!DOCTYPE TS>
 <TS version="2.1">
 <context>
-    <name>Form</name>
+    <name>trackhat_dialog</name>
     <message>
-        <source>TrackHat tracker</source>
+        <source>TrackHat</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -20,10 +20,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Gain</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Model</source>
         <translation type="unfinished"></translation>
     </message>
@@ -43,6 +39,26 @@
         <source> px</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Tracking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Point filter</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Tracking stopped.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Tracking. %1 points detected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>trackhat_module</name>
diff --git a/tracker-trackhat/lang/ru_RU.ts b/tracker-trackhat/lang/ru_RU.ts
index e375a7a4..1f46e7e3 100644
--- a/tracker-trackhat/lang/ru_RU.ts
+++ b/tracker-trackhat/lang/ru_RU.ts
@@ -2,9 +2,9 @@
 <!DOCTYPE TS>
 <TS version="2.1">
 <context>
-    <name>Form</name>
+    <name>trackhat_dialog</name>
     <message>
-        <source>TrackHat tracker</source>
+        <source>TrackHat</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -20,10 +20,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Gain</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Model</source>
         <translation type="unfinished"></translation>
     </message>
@@ -43,6 +39,26 @@
         <source> px</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Tracking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Point filter</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Tracking stopped.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Tracking. %1 points detected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>trackhat_module</name>
diff --git a/tracker-trackhat/lang/stub.ts b/tracker-trackhat/lang/stub.ts
index e375a7a4..1f46e7e3 100644
--- a/tracker-trackhat/lang/stub.ts
+++ b/tracker-trackhat/lang/stub.ts
@@ -2,9 +2,9 @@
 <!DOCTYPE TS>
 <TS version="2.1">
 <context>
-    <name>Form</name>
+    <name>trackhat_dialog</name>
     <message>
-        <source>TrackHat tracker</source>
+        <source>TrackHat</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -20,10 +20,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Gain</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Model</source>
         <translation type="unfinished"></translation>
     </message>
@@ -43,6 +39,26 @@
         <source> px</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Tracking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Point filter</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Tracking stopped.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Tracking. %1 points detected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>trackhat_module</name>
diff --git a/tracker-trackhat/lang/zh_CN.ts b/tracker-trackhat/lang/zh_CN.ts
index e375a7a4..1f46e7e3 100644
--- a/tracker-trackhat/lang/zh_CN.ts
+++ b/tracker-trackhat/lang/zh_CN.ts
@@ -2,9 +2,9 @@
 <!DOCTYPE TS>
 <TS version="2.1">
 <context>
-    <name>Form</name>
+    <name>trackhat_dialog</name>
     <message>
-        <source>TrackHat tracker</source>
+        <source>TrackHat</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -20,10 +20,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Gain</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Model</source>
         <translation type="unfinished"></translation>
     </message>
@@ -43,6 +39,26 @@
         <source> px</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Tracking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Point filter</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Tracking stopped.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Tracking. %1 points detected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>trackhat_module</name>
diff --git a/tracker-trackhat/metadata.cpp b/tracker-trackhat/metadata.cpp
index a6dd12f8..8c6f4de0 100644
--- a/tracker-trackhat/metadata.cpp
+++ b/tracker-trackhat/metadata.cpp
@@ -1,9 +1,10 @@
 #include "metadata.hpp"
 #include "api/plugin-api.hpp"
 #include "trackhat.hpp"
+#include "dialog.hpp"
 
 // XXX TODO
-const QString trackhat_metadata::module_name = QStringLiteral("tracker-pt");
+const QString trackhat_metadata::module_name = QStringLiteral("tracker-trackhat/pt");
 
 pt_runtime_traits::pointer<pt_camera> trackhat_metadata::make_camera() const
 {
@@ -35,8 +36,4 @@ trackhat_pt::trackhat_pt() :
 {
 }
 
-trackhat_pt_dialog::trackhat_pt_dialog() : TrackerDialog_PT(trackhat_metadata::module_name)
-{
-}
-
-OPENTRACK_DECLARE_TRACKER(trackhat_pt, trackhat_pt_dialog, trackhat_module)
+OPENTRACK_DECLARE_TRACKER(trackhat_pt, trackhat_dialog, trackhat_module)
diff --git a/tracker-trackhat/metadata.hpp b/tracker-trackhat/metadata.hpp
index d8d053b1..c0f7567c 100644
--- a/tracker-trackhat/metadata.hpp
+++ b/tracker-trackhat/metadata.hpp
@@ -1,7 +1,6 @@
 #pragma once
 #include "trackhat.hpp"
 #include "../tracker-pt/ftnoir_tracker_pt.h"
-#include "../tracker-pt/ftnoir_tracker_pt_dialog.h"
 
 class trackhat_pt final : public Tracker_PT
 {
@@ -11,14 +10,6 @@ public:
     trackhat_pt();
 };
 
-class trackhat_pt_dialog final : public TrackerDialog_PT
-{
-    Q_OBJECT
-
-public:
-    trackhat_pt_dialog();
-};
-
 class trackhat_module final : public Metadata
 {
     Q_OBJECT
diff --git a/tracker-trackhat/settings.cpp b/tracker-trackhat/settings.cpp
new file mode 100644
index 00000000..a2fd5c8c
--- /dev/null
+++ b/tracker-trackhat/settings.cpp
@@ -0,0 +1,66 @@
+#include "trackhat.hpp"
+
+namespace trackhat_impl {
+
+trackhat_settings::trackhat_settings() : opts{"tracker-trackhat"}
+{
+}
+
+void setting_receiver::settings_changed()
+{
+    changed = true;
+}
+
+bool setting_receiver::test_and_clear()
+{
+    bool x = true;
+    return changed.compare_exchange_strong(x, false);
+}
+
+} // ns trackhat_impl
+
+void trackhat_camera::set_pt_options()
+{
+    s.min_point_size = t.min_pt_size;
+    s.max_point_size = t.max_pt_size;
+
+    switch (t.model)
+    {
+    default:
+    case model_cap:
+        s.t_MH_x = 0; s.t_MH_y = 0; s.t_MH_z = 0;
+        break;
+    case model_clip_left:
+    case model_mini_clip_left:
+        s.t_MH_x = -135; s.t_MH_y = 0; s.t_MH_z = 0;
+        break;
+    case model_clip_right:
+    case model_mini_clip_right:
+        s.t_MH_x = 135; s.t_MH_y = 0; s.t_MH_z = 0;
+        break;
+    }
+
+    switch (t.model)
+    {
+    default:
+        eval_once(qDebug() << "tracker/trackhat: unknown model");
+    [[fallthrough]];
+    case model_clip_left:
+    case model_clip_right:
+        s.clip_tz = 27; s.clip_ty = 43; s.clip_by = 62; s.clip_bz = 74;
+        break;
+    case model_mini_clip_left:
+    case model_mini_clip_right:
+        s.clip_tz = 13; s.clip_ty = 42; s.clip_by = 60; s.clip_bz = 38;
+        break;
+    case model_cap:
+        s.cap_x = 60; s.cap_y = 90; s.cap_z = 95;
+        break;
+    }
+
+    s.active_model_panel = t.model == model_cap ? 1 : 0;
+    s.enable_point_filter = t.enable_point_filter;
+    s.point_filter_coefficient = *t.point_filter_coefficient;
+
+    s.b->save();
+}
diff --git a/tracker-trackhat/trackhat-res.qrc b/tracker-trackhat/trackhat-res.qrc
new file mode 100644
index 00000000..9aeb8879
--- /dev/null
+++ b/tracker-trackhat/trackhat-res.qrc
@@ -0,0 +1,5 @@
+<RCC>
+  <qresource>
+    <file>images/trackhat-64x64.png</file>
+  </qresource>
+</RCC>
diff --git a/tracker-trackhat/trackhat.hpp b/tracker-trackhat/trackhat.hpp
index b0096cc3..2cdc083b 100644
--- a/tracker-trackhat/trackhat.hpp
+++ b/tracker-trackhat/trackhat.hpp
@@ -3,10 +3,53 @@
 #include "../tracker-pt/pt-api.hpp"
 #include "track_hat_driver.h"
 #include "compat/macros.hpp"
+#include "options/options.hpp"
 
 #include <array>
+#include <atomic>
 #include <opencv2/core.hpp>
 
+enum model_type : int
+{
+    model_cap = 1,
+    model_clip_left,
+    model_clip_right,
+    model_mini_clip_left,
+    model_mini_clip_right,
+};
+
+namespace trackhat_impl
+{
+using namespace options;
+
+struct trackhat_settings : opts
+{
+    trackhat_settings();
+    value<slider_value> exposure{b, "exposure", {0xfff0, 1, 0xfff0}};
+    value<slider_value> threshold{b, "threshold", {0x97, 64, 0xff}};
+    value<model_type> model{b, "model", model_mini_clip_left};
+    value<double> min_pt_size{b, "min-point-size", 2};
+    value<double> max_pt_size{b, "max-point-size", 8};
+    value<bool> enable_point_filter{b, "enable-point-filter", true };
+    value<slider_value> point_filter_coefficient{b, "point-filter-coefficient", { 1, 0, 4 }};
+};
+
+class setting_receiver : public QObject
+{
+    Q_OBJECT
+
+public:
+    bool test_and_clear();
+public slots:
+    void settings_changed();
+private:
+    std::atomic<bool> changed{false};
+};
+
+} // ns trackhat_impl
+
+using typename trackhat_impl::trackhat_settings;
+
 struct trackhat_metadata final : pt_runtime_traits
 {
     pt_runtime_traits::pointer<pt_camera> make_camera() const override;
@@ -25,7 +68,6 @@ struct trackhat_metadata final : pt_runtime_traits
 
 struct point
 {
-    double radius;
     int brightness = 0, x, y, W, H;
     bool ok = false;
 };
@@ -40,6 +82,7 @@ struct trackhat_camera final : pt_camera
     bool start(const pt_settings& s) override;
     void stop() override;
     [[nodiscard]] int init_regs();
+    void set_pt_options();
 
     pt_camera::result get_frame(pt_frame& frame) override;
     pt_camera::result get_info() const override;
@@ -57,11 +100,13 @@ struct trackhat_camera final : pt_camera
 
 private:
     enum device_status { th_noinit, th_init, th_detect, th_connect, th_running, };
+    trackhat_impl::setting_receiver sig;
 
     trackHat_Device_t device {};
     device_status status = th_noinit;
     TH_ErrorCode error_code = TH_SUCCESS;
     pt_settings s{trackhat_metadata::module_name};
+    trackhat_settings t;
 };
 
 struct trackhat_frame final : pt_frame
@@ -99,7 +144,4 @@ struct trackhat_extractor final : pt_point_extractor
 
     trackhat_extractor() = default;
     ~trackhat_extractor() override = default;
-
-private:
-    pt_settings s{trackhat_metadata::module_name};
 };