tracker/trackhat: new tracker

Sponsored by: TrackHat

21 files changed, 1997 insertions, 0 deletions

diff --git a/tracker-trackhat/CMakeLists.txt b/tracker-trackhat/CMakeLists.txt
new file mode 100644
index 00000000..483bf4c9
--- /dev/null
+++ b/tracker-trackhat/CMakeLists.txt
@@ -0,0 +1,16 @@
+if(WIN32)
+    include(opentrack-opencv)
+    find_package(OpenCV QUIET)
+    if(OpenCV_FOUND)
+        foreach(k core imgproc)
+            otr_install_lib("opencv_${k}" "${opentrack-libexec}")
+        endforeach()
+        set(SDK_TRACKHAT_SENSOR CACHE PATH "")
+        if(SDK_TRACKHAT_SENSOR)
+            include_directories("${SDK_TRACKHAT_SENSOR}/include" ${OpenCV_INCLUDE_DIRS})
+            link_directories("${SDK_TRACKHAT_SENSOR}/lib")
+            link_libraries(opencv_imgproc opencv_core opentrack-tracker-pt-base track-hat)
+            otr_module(tracker-trackhat)
+        endif()
+    endif()
+endif()
diff --git a/tracker-trackhat/camera.cpp b/tracker-trackhat/camera.cpp
new file mode 100644
index 00000000..dd1f3d3a
--- /dev/null
+++ b/tracker-trackhat/camera.cpp
@@ -0,0 +1,126 @@
+#include "trackhat.hpp"
+#include "compat/sleep.hpp"
+#include <cstdio>
+
+namespace trackhat_impl {
+
+TH_ErrorCode log_error(TH_ErrorCode error, const char* source,
+                       const char* file, int line, const char* function)
+{
+    if (error == TH_ERROR_DEVICE_ALREADY_OPEN)
+        error = TH_SUCCESS;
+    if (error)
+    {
+        auto logger = QMessageLogger(file, line, function).warning();
+        logger << "tracker/trackhat: error" << (void*)-error << "in" << source;
+    }
+    return error;
+}
+
+} // ns trackhat_impl
+
+pt_camera::result trackhat_camera::get_info() const
+{
+    return {true, get_desired() };
+}
+
+pt_camera_info trackhat_camera::get_desired() const
+{
+    pt_camera_info ret = {};
+
+    ret.fov = sensor_fov;
+    ret.fps = 250;
+    ret.res_x = sensor_size;
+    ret.res_y = sensor_size;
+
+    return ret;
+}
+
+QString trackhat_camera::get_desired_name() const
+{
+    return QStringLiteral("TrackHat sensor");
+}
+
+QString trackhat_camera::get_active_name() const
+{
+    return get_desired_name();
+}
+
+void trackhat_camera::set_fov(pt_camera::f) {}
+void trackhat_camera::show_camera_settings() {}
+
+trackhat_camera::trackhat_camera()
+{
+    s.set_raii_dtor_state(false);
+    t.set_raii_dtor_state(false);
+
+    for (auto* slider : { &t.exposure, /*&t.threshold,*/ })
+    {
+        QObject::connect(slider, options::value_::value_changed<options::slider_value>(),
+                         &sig, &trackhat_impl::setting_receiver::settings_changed,
+                         Qt::DirectConnection);
+    }
+}
+
+trackhat_camera::~trackhat_camera()
+{
+    stop();
+}
+
+pt_camera::result trackhat_camera::get_frame(pt_frame& frame_)
+{
+    if (!device.ensure_connected())
+        goto error;
+
+    if (sig.test_and_clear() && !init_regs())
+        goto error;
+
+    set_pt_options();
+
+    {
+        trackHat_ExtendedPoints_t points;
+        if (!!th_check(trackHat_GetDetectedPointsExtended(&*device, &points)))
+            goto error;
+        auto& frame = *frame_.as<trackhat_frame>();
+        frame.init_points(points, t.min_pt_size, t.max_pt_size);
+    }
+
+    return {true, get_desired()};
+
+error:
+    stop();
+    return {false, {}};
+}
+
+static void log_handler(const char* file, int line, const char* function, char level, const char* str, size_t len)
+{
+    if (level != 'E')
+        return;
+    char file_[128];
+    snprintf(file_, std::size(file_), "trackhat/%s", file);
+    auto logger = QMessageLogger(file_, line, function).debug();
+    logger << "tracker/trackhat:";
+    logger.noquote() << QLatin1String(str, (int)len);
+}
+
+bool trackhat_camera::start(const pt_settings&)
+{
+    trackHat_SetDebugHandler(log_handler);
+
+    if constexpr(debug_mode)
+        trackHat_EnableDebugMode();
+    else
+        trackHat_DisableDebugMode();
+
+    if (!device.ensure_device_exists())
+        return false;
+
+    set_pt_options();
+
+    return true;
+}
+
+void trackhat_camera::stop()
+{
+    device.disconnect();
+}
diff --git a/tracker-trackhat/dialog.cpp b/tracker-trackhat/dialog.cpp
new file mode 100644
index 00000000..cfff03ba
--- /dev/null
+++ b/tracker-trackhat/dialog.cpp
@@ -0,0 +1,144 @@
+#include "dialog.hpp"
+
+using namespace options;
+
+trackhat_dialog::trackhat_dialog()
+{
+    ui.setupUi(this);
+    poll_tracker_info();
+    poll_timer.setInterval(100);
+
+    const std::tuple<QString, model_type> model_types[] = {
+        { tr("Cap"),                model_cap },
+        { tr("Clip (left)"),        model_clip_left },
+        { tr("Clip (right)"),       model_clip_right },
+        { tr("Mini Clip (left)"),   model_mini_clip_left },
+        { tr("Mini Clip (right)"),  model_mini_clip_right },
+        { tr("Custom"),             model_mystery_meat },
+    };
+
+    ui.model_type->clear();
+
+    for (const auto& [name, type] : model_types)
+        ui.model_type->addItem(QIcon{}, name, (QVariant)(int)type);
+
+    // model
+
+    tie_setting(t.model, ui.model_type);
+    tie_setting(t.min_pt_size, ui.min_point_size);
+    tie_setting(t.max_pt_size, ui.max_point_size);
+    tie_setting(t.point_filter_limit, ui.point_filter_limit);
+
+    // exposure
+
+    ui.exposure_slider->setMinimum((int)t.exposure->min());
+    ui.exposure_slider->setMaximum((int)t.exposure->max());
+
+    tie_setting(t.exposure, ui.exposure_slider);
+    ui.exposure_label->setValue((int)*t.exposure);
+    ui.point_filter_limit_label->setValue(*t.point_filter_limit);
+
+    connect(&t.exposure, value_::value_changed<slider_value>(), ui.exposure_label,
+        [this] { ui.exposure_label->setValue((int)*t.exposure); }, Qt::QueuedConnection);
+    connect(&t.point_filter_limit, value_::value_changed<slider_value>(), ui.point_filter_limit_label,
+        [this] { ui.point_filter_limit_label->setValue(*t.point_filter_limit); }, Qt::QueuedConnection);
+
+    // threshold
+
+#if 0
+    tie_setting(t.threshold, ui.threshold_slider);
+
+    ui.threshold_label->setValue((int)*t.threshold);
+
+    connect(&t.threshold, value_::value_changed<slider_value>(), ui.threshold_label, [=] {
+            ui.threshold_label->setValue((int)*t.threshold);
+        }, Qt::QueuedConnection);
+#endif
+
+    // point filter
+
+    tie_setting(t.enable_point_filter, ui.enable_point_filter);
+    tie_setting(t.point_filter_coefficient, ui.point_filter_slider);
+    ui.point_filter_label->setValue(*t.point_filter_coefficient);
+
+    connect(&t.point_filter_coefficient, value_::value_changed<slider_value>(), ui.point_filter_label,
+        [this] { ui.point_filter_label->setValue(*t.point_filter_coefficient); }, Qt::QueuedConnection);
+
+    tie_setting(t.point_filter_deadzone, ui.point_filter_deadzone);
+    ui.point_filter_deadzone_label->setValue(*t.point_filter_deadzone);
+
+    connect(&t.point_filter_deadzone, value_::value_changed<slider_value>(), ui.point_filter_deadzone_label,
+        [this] { ui.point_filter_deadzone_label->setValue(*t.point_filter_deadzone); }, Qt::QueuedConnection);
+
+    // stuff
+
+    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_tracker_info();
+    poll_timer.start();
+}
+
+void trackhat_dialog::unregister_tracker()
+{
+    tracker = nullptr;
+    poll_tracker_info();
+    poll_timer.stop();
+    update_raw_data();
+}
+
+void trackhat_dialog::save()
+{
+    s.b->save();
+    t.b->save();
+}
+
+void trackhat_dialog::reload()
+{
+    s.b->reload();
+    t.b->reload();
+}
+
+void trackhat_dialog::doCancel() { reload(); close(); }
+void trackhat_dialog::doOK() { save(); close(); }
+
+trackhat_dialog::~trackhat_dialog()
+{
+}
+
+void trackhat_dialog::poll_tracker_info()
+{
+    if (!tracker)
+        ui.status_label->setText(tr("Status: Tracking stopped."));
+    else if (tracker->get_n_points() == 3)
+        ui.status_label->setText(tr("Status: %1 points detected. Good!").arg(tracker->get_n_points()));
+    else
+        ui.status_label->setText(tr("Status: %1 points detected. BAD!").arg(tracker->get_n_points()));
+    update_raw_data();
+}
+
+void trackhat_dialog::set_buttons_visible(bool x)
+{
+    ui.buttonBox->setVisible(x);
+    adjustSize();
+}
+void trackhat_dialog::update_raw_data()
+{
+    QLabel* labels[] = { ui.label_x, ui.label_y, ui.label_z, ui.label_yaw, ui.label_pitch, ui.label_roll };
+    if (tracker)
+    {
+        QString str; str.reserve(16);
+        double data[6] {};
+        tracker->data(data);
+        for (unsigned i = 0; i < std::size(labels); i++)
+            labels[i]->setText(str.sprintf("%.2f%s", data[i], i >= 3 ? "°" : " mm"));
+    }
+    else
+        for (QLabel* x : labels)
+            x->setText(QStringLiteral("-"));
+}
diff --git a/tracker-trackhat/dialog.hpp b/tracker-trackhat/dialog.hpp
new file mode 100644
index 00000000..35ca866b
--- /dev/null
+++ b/tracker-trackhat/dialog.hpp
@@ -0,0 +1,36 @@
+#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 final : public ITrackerDialog
+{
+    Q_OBJECT
+
+protected:
+    Ui_trackhat_dialog ui;
+    Tracker_PT* tracker = nullptr;
+    QTimer poll_timer{this};
+
+    pt_settings s{trackhat_metadata::module_name};
+    trackhat_settings t;
+
+    void set_buttons_visible(bool x) override;
+    void update_raw_data();
+
+public:
+    trackhat_dialog();
+    ~trackhat_dialog() override;
+    void register_tracker(ITracker *tracker) override;
+    void unregister_tracker() override;
+    bool embeddable() noexcept override { return true; }
+    void save() override;
+    void reload() override;
+
+public slots:
+    void doOK();
+    void doCancel();
+    void poll_tracker_info();
+};
diff --git a/tracker-trackhat/dialog.ui b/tracker-trackhat/dialog.ui
new file mode 100644
index 00000000..30cf78db
--- /dev/null
+++ b/tracker-trackhat/dialog.ui
@@ -0,0 +1,522 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>trackhat_dialog</class>
+ <widget class="QDialog" name="trackhat_dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>365</width>
+    <height>429</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>365</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <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>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Camera</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="2">
+       <widget class="QSpinBox" name="exposure_label">
+        <property name="focusPolicy">
+         <enum>Qt::NoFocus</enum>
+        </property>
+        <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="0" column="1">
+       <widget class="QSlider" name="exposure_slider">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="maximum">
+         <number>239</number>
+        </property>
+        <property name="pageStep">
+         <number>10</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>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>Model</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_6">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+          <horstretch>10</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>Type</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QComboBox" name="model_type">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+          <horstretch>9</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>Min point size</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Max point size</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1" alignment="Qt::AlignRight">
+       <widget class="QDoubleSpinBox" name="max_point_size">
+        <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="decimals">
+         <number>1</number>
+        </property>
+        <property name="minimum">
+         <double>1.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>999.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1" alignment="Qt::AlignRight">
+       <widget class="QDoubleSpinBox" name="min_point_size">
+        <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="decimals">
+         <number>1</number>
+        </property>
+        <property name="minimum">
+         <double>1.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>999.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>1.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+     </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="QGridLayout" name="gridLayout_3">
+         <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 row="0" column="2">
+          <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="focusPolicy">
+            <enum>Qt::NoFocus</enum>
+           </property>
+           <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="suffix">
+            <string> px</string>
+           </property>
+           <property name="decimals">
+            <number>2</number>
+           </property>
+           <property name="maximum">
+            <double>300.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QSlider" name="point_filter_limit">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="maximum">
+            <number>99</number>
+           </property>
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QLabel" name="label_8">
+           <property name="text">
+            <string>Limit</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QLabel" name="label_10">
+           <property name="text">
+            <string>Deadzone</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QCheckBox" name="enable_point_filter">
+           <property name="text">
+            <string>Point filter</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="2">
+          <widget class="QDoubleSpinBox" name="point_filter_limit_label">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="focusPolicy">
+            <enum>Qt::NoFocus</enum>
+           </property>
+           <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="prefix">
+            <string/>
+           </property>
+           <property name="suffix">
+            <string/>
+           </property>
+           <property name="decimals">
+            <number>2</number>
+           </property>
+           <property name="maximum">
+            <double>1.000000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <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 row="2" column="1">
+          <widget class="QSlider" name="point_filter_deadzone">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="maximum">
+            <number>100</number>
+           </property>
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="2">
+          <widget class="QDoubleSpinBox" name="point_filter_deadzone_label">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="focusPolicy">
+            <enum>Qt::NoFocus</enum>
+           </property>
+           <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="suffix">
+            <string> px</string>
+           </property>
+           <property name="decimals">
+            <number>2</number>
+           </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="QGroupBox" name="groupBox_4">
+     <property name="title">
+      <string>Raw data</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_4">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_9">
+        <property name="text">
+         <string>X</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="label_y">
+        <property name="text">
+         <string>TextLabel</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLabel" name="label_z">
+        <property name="text">
+         <string>TextLabel</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QLabel" name="label_13">
+        <property name="text">
+         <string>Yaw</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QLabel" name="label_15">
+        <property name="text">
+         <string>Roll</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_11">
+        <property name="text">
+         <string>Y</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label_x">
+        <property name="text">
+         <string>TextLabel</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_12">
+        <property name="text">
+         <string>Z</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QLabel" name="label_14">
+        <property name="text">
+         <string>Pitch</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QLabel" name="label_yaw">
+        <property name="text">
+         <string>TextLabel</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="3">
+       <widget class="QLabel" name="label_pitch">
+        <property name="text">
+         <string>TextLabel</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QLabel" name="label_roll">
+        <property name="text">
+         <string>TextLabel</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Expanding</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>10</width>
+       <height>1</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <tabstops>
+  <tabstop>exposure_slider</tabstop>
+  <tabstop>model_type</tabstop>
+  <tabstop>min_point_size</tabstop>
+  <tabstop>max_point_size</tabstop>
+  <tabstop>enable_point_filter</tabstop>
+  <tabstop>point_filter_slider</tabstop>
+  <tabstop>point_filter_limit</tabstop>
+ </tabstops>
+ <resources>
+  <include location="trackhat-res.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/tracker-trackhat/extractor.cpp b/tracker-trackhat/extractor.cpp
new file mode 100644
index 00000000..58b9fd05
--- /dev/null
+++ b/tracker-trackhat/extractor.cpp
@@ -0,0 +1,21 @@
+#include "trackhat.hpp"
+#include <algorithm>
+#include <iterator>
+
+void trackhat_extractor::extract_points(const pt_frame& data,
+                                        pt_preview&, bool,
+                                        std::vector<vec2>& points)
+{
+    points.clear();
+    points.reserve(trackhat_camera::point_count);
+    const auto& copy = data.as_const<trackhat_frame>()->points;
+
+    for (const auto& pt : copy)
+    {
+        if (!pt.ok)
+            continue;
+        constexpr int sz = trackhat_camera::sensor_size;
+        auto [ x, y ] = to_screen_pos(pt.x, pt.y, sz, sz);
+        points.push_back({x, y});
+    }
+}
diff --git a/tracker-trackhat/frame.cpp b/tracker-trackhat/frame.cpp
new file mode 100644
index 00000000..d8fae002
--- /dev/null
+++ b/tracker-trackhat/frame.cpp
@@ -0,0 +1,127 @@
+#include "trackhat.hpp"
+#include <opencv2/imgproc.hpp>
+#include "compat/math.hpp"
+
+trackhat_preview::trackhat_preview(int w, int h)
+{
+    frame_bgr.create(h, w, CV_8UC3);
+    frame_bgra.create(h, w, CV_8UC4);
+}
+
+void trackhat_preview::set_last_frame(const pt_frame& frame_)
+{
+    center = {-1, -1};
+    points = frame_.as_const<trackhat_frame>()->points;
+}
+
+void trackhat_preview::draw_head_center(pt_pixel_pos_mixin::f x, pt_pixel_pos_mixin::f y)
+{
+    center = {x, y};
+}
+
+QImage trackhat_preview::get_bitmap()
+{
+    frame_bgr.setTo({0});
+
+    draw_points();
+    draw_center();
+
+    cv::cvtColor(frame_bgr, frame_bgra, cv::COLOR_BGR2BGRA);
+
+    return QImage((const unsigned char*) frame_bgra.data,
+                  frame_bgra.cols, frame_bgra.rows,
+                  (int)frame_bgra.step.p[0],
+                  QImage::Format_ARGB32);
+}
+
+void trackhat_preview::draw_center()
+{
+    if (center == numeric_types::vec2(-1, -1))
+        return;
+
+    auto [px_, py_] = to_pixel_pos(center[0], center[1], frame_bgr.cols, frame_bgr.rows);
+    int px = iround(px_), py = iround(py_);
+
+    const f dpi = (f)frame_bgr.cols / f(320);
+    constexpr int len_ = 9;
+    int len = iround(len_ * dpi);
+
+    static const cv::Scalar color(0, 255, 255);
+    cv::line(frame_bgr,
+             cv::Point(px - len, py),
+             cv::Point(px + len, py),
+             color, 1);
+    cv::line(frame_bgr,
+             cv::Point(px, py - len),
+             cv::Point(px, py + len),
+             color, 1);
+}
+
+void trackhat_preview::draw_points()
+{
+    for (const auto& pt : points)
+    {
+        if (pt.brightness == 0)
+            continue;
+
+        constexpr int sz = trackhat_camera::sensor_size;
+        constexpr f scaling_factor = 10;
+        const int x = pt.x * frame_bgr.cols / sz, y = pt.y * frame_bgr.rows / sz;
+        const f dpi = (f)frame_bgr.cols / f(320);
+        const int W = std::max(1, iround(pt.W * frame_bgr.cols * scaling_factor / sz)),
+                  H = std::max(1, iround(pt.H * frame_bgr.rows * scaling_factor / sz));
+        const auto point_color = progn(double c = pt.brightness; return cv::Scalar{c, c, c};);
+        const auto outline_color = pt.ok
+                                   ? cv::Scalar{255, 255, 0}
+                                   : cv::Scalar{192, 192, 192};
+
+        cv::ellipse(frame_bgr, {x, y}, {W, H},
+                    0, 0, 360, point_color, -1, cv::LINE_AA);
+        cv::ellipse(frame_bgr, {x, y}, {iround(W + 2*dpi), iround(H + 2*dpi)},
+                    0, 0, 360, outline_color, iround(dpi), cv::LINE_AA);
+
+        char buf[16];
+        std::snprintf(buf, sizeof(buf), "%dpx", pt.area);
+        auto text_color = pt.ok
+                          ? cv::Scalar(0, 0, 255)
+                          : cv::Scalar(160, 160, 160);
+        const int offx = iround(W + 9*dpi), offy = H*3/2;
+
+        cv::putText(frame_bgr, buf, {x+offx, y+offy},
+                    cv::FONT_HERSHEY_PLAIN, iround(dpi), text_color,
+                    1);
+    }
+}
+
+void trackhat_frame::init_points(const trackHat_ExtendedPoints_t& points_, double min_size, double max_size)
+{
+    trackHat_ExtendedPoints_t copy = points_;
+    points = {};
+
+    std::sort(std::begin(copy.m_point), std::end(copy.m_point),
+        [](trackHat_ExtendedPoint_t p1, trackHat_ExtendedPoint_t p2) {
+      return p1.m_averageBrightness > p2.m_averageBrightness;
+    });
+
+    unsigned i = 0;
+
+    for (const trackHat_ExtendedPoint_t& pt : copy.m_point)
+    {
+        if (pt.m_averageBrightness == 0)
+            continue;
+
+        point p = {};
+
+        if (pt.m_area >= min_size && pt.m_area <= max_size)
+            p.ok = true;
+
+        p.brightness = pt.m_averageBrightness;
+        p.area = pt.m_area;
+        p.W = std::max(1, pt.m_boundryRigth - pt.m_boundryLeft);
+        p.H = std::max(1, pt.m_boundryDown  - pt.m_boundryUp);
+        p.x = trackhat_camera::sensor_size-1-pt.m_coordinateX;
+        p.y = pt.m_coordinateY;
+
+        points[i++] = p;
+    }
+}
diff --git a/tracker-trackhat/handle.cpp b/tracker-trackhat/handle.cpp
new file mode 100644
index 00000000..42902e76
--- /dev/null
+++ b/tracker-trackhat/handle.cpp
@@ -0,0 +1,72 @@
+#undef NDEBUG
+#include "trackhat.hpp"
+#include "compat/sleep.hpp"
+#include "compat/timer.hpp"
+#include <cassert>
+
+bool camera_handle::ensure_connected()
+{
+    if (state_ >= st_streaming)
+        return true;
+    else if (state_ == st_stopped)
+        return false;
+
+    Timer t;
+
+    constexpr int max_attempts = 5;
+
+    if (!ensure_device_exists())
+        goto error;
+
+    for (int i = 0; i < max_attempts; i++)
+    {
+        if (!th_check(trackHat_Connect(&device_, TH_FRAME_EXTENDED)))
+        {
+            state_ = st_streaming;
+            if (int ms = (int)t.elapsed_ms(); ms > 1000)
+                qDebug() << "tracker/trackhat: connecting took" << ms << "ms";
+            return true;
+        }
+
+        auto dbg = qDebug();
+        dbg << "tracker/trackhat: connect failed, retry";
+        dbg.space(); dbg.nospace();
+        dbg << (i+1) << "/" << max_attempts;
+        portable::sleep(50);
+    }
+
+error:
+    disconnect();
+    return false;
+}
+
+bool camera_handle::ensure_device_exists()
+{
+    switch (state_)
+    {
+    case st_streaming:
+        return true;
+    case st_detected:
+        disconnect();
+        [[fallthrough]];
+    case st_stopped:
+        assert(!th_check(trackHat_Initialize(&device_)) && device_.m_pInternal);
+        if (auto error = th_check(trackHat_DetectDevice(&device_)); error)
+        {
+            disconnect();
+            return false;
+        }
+        state_ = st_detected;
+        return true;
+    }
+}
+
+void camera_handle::disconnect()
+{
+    state_ = st_stopped;
+    if (device_.m_pInternal)
+    {
+        (void)!th_check(trackHat_Disconnect(&device_));
+        trackHat_Deinitialize(&device_);
+    }
+}
diff --git a/tracker-trackhat/images/trackhat-64x64.png b/tracker-trackhat/images/trackhat-64x64.png
new file mode 100644
index 00000000..9e856c23
--- /dev/null
+++ b/tracker-trackhat/images/trackhat-64x64.png
diff --git a/tracker-trackhat/images/trackhat.ico b/tracker-trackhat/images/trackhat.ico
new file mode 100644
index 00000000..b5f34db3
--- /dev/null
+++ b/tracker-trackhat/images/trackhat.ico
diff --git a/tracker-trackhat/images/trackhat.png b/tracker-trackhat/images/trackhat.png
new file mode 100644
index 00000000..4f17de81
--- /dev/null
+++ b/tracker-trackhat/images/trackhat.png
diff --git a/tracker-trackhat/lang/nl_NL.ts b/tracker-trackhat/lang/nl_NL.ts
new file mode 100644
index 00000000..73e375fc
--- /dev/null
+++ b/tracker-trackhat/lang/nl_NL.ts
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="nl_NL">
+<context>
+    <name>trackhat_dialog</name>
+    <message>
+        <source>Cap</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clip (left)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clip (right)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Mini Clip (left)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Mini Clip (right)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: Tracking stopped.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: %1 points detected. Good!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: %1 points detected. BAD!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TrackHat</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Camera</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exposure</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Type</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Min point size</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Max point size</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Raw data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>X</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TextLabel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yaw</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Roll</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Y</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Z</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pitch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Deadzone</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>trackhat_module</name>
+    <message>
+        <source>TrackHat Point Tracker</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/tracker-trackhat/lang/ru_RU.ts b/tracker-trackhat/lang/ru_RU.ts
new file mode 100644
index 00000000..091c2101
--- /dev/null
+++ b/tracker-trackhat/lang/ru_RU.ts
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ru_RU">
+<context>
+    <name>trackhat_dialog</name>
+    <message>
+        <source>Cap</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clip (left)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clip (right)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Mini Clip (left)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Mini Clip (right)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: Tracking stopped.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: %1 points detected. Good!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: %1 points detected. BAD!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TrackHat</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Camera</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exposure</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Type</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Min point size</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Max point size</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Raw data</source>
+        <translation>Исходные данные</translation>
+    </message>
+    <message>
+        <source>X</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TextLabel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yaw</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Roll</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Y</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Z</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pitch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Deadzone</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>trackhat_module</name>
+    <message>
+        <source>TrackHat Point Tracker</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/tracker-trackhat/lang/stub.ts b/tracker-trackhat/lang/stub.ts
new file mode 100644
index 00000000..548138a3
--- /dev/null
+++ b/tracker-trackhat/lang/stub.ts
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="stub">
+<context>
+    <name>trackhat_dialog</name>
+    <message>
+        <source>TrackHat</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Camera</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exposure</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Type</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Min point size</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Max point size</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> px</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Tracking</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Deadzone</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Point filter</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Raw data</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>X</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TextLabel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yaw</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Roll</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Y</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Z</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pitch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cap</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clip (left)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clip (right)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Mini Clip (left)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Mini Clip (right)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: Tracking stopped.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: %1 points detected. Good!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: %1 points detected. BAD!</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>trackhat_module</name>
+    <message>
+        <source>TrackHat Point Tracker</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/tracker-trackhat/lang/zh_CN.ts b/tracker-trackhat/lang/zh_CN.ts
new file mode 100644
index 00000000..cb881fa8
--- /dev/null
+++ b/tracker-trackhat/lang/zh_CN.ts
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="zh_CN">
+<context>
+    <name>trackhat_dialog</name>
+    <message>
+        <source>Cap</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clip (left)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Clip (right)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Mini Clip (left)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Mini Clip (right)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: Tracking stopped.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: %1 points detected. Good!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status: %1 points detected. BAD!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TrackHat</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Camera</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Exposure</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Type</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Min point size</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Max point size</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <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>Limit</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Status</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Raw data</source>
+        <translation>跟踪器原始数据</translation>
+    </message>
+    <message>
+        <source>X</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>TextLabel</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Yaw</source>
+        <translation>偏航</translation>
+    </message>
+    <message>
+        <source>Roll</source>
+        <translation>横滚</translation>
+    </message>
+    <message>
+        <source>Y</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Z</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pitch</source>
+        <translation>仰俯</translation>
+    </message>
+    <message>
+        <source>Deadzone</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>trackhat_module</name>
+    <message>
+        <source>TrackHat Point Tracker</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/tracker-trackhat/metadata.cpp b/tracker-trackhat/metadata.cpp
new file mode 100644
index 00000000..8c6f4de0
--- /dev/null
+++ b/tracker-trackhat/metadata.cpp
@@ -0,0 +1,39 @@
+#include "metadata.hpp"
+#include "api/plugin-api.hpp"
+#include "trackhat.hpp"
+#include "dialog.hpp"
+
+// XXX TODO
+const QString trackhat_metadata::module_name = QStringLiteral("tracker-trackhat/pt");
+
+pt_runtime_traits::pointer<pt_camera> trackhat_metadata::make_camera() const
+{
+    return std::make_shared<trackhat_camera>();
+}
+
+pt_runtime_traits::pointer<pt_point_extractor> trackhat_metadata::make_point_extractor() const
+{
+    return std::make_shared<trackhat_extractor>();
+}
+
+pt_runtime_traits::pointer<pt_frame> trackhat_metadata::make_frame() const
+{
+    return std::make_shared<trackhat_frame>();
+}
+
+pt_runtime_traits::pointer<pt_preview> trackhat_metadata::make_preview(int w, int h) const
+{
+    return std::make_shared<trackhat_preview>(w, h);
+}
+
+QString trackhat_metadata::get_module_name() const
+{
+    return trackhat_metadata::module_name;
+}
+
+trackhat_pt::trackhat_pt() :
+      Tracker_PT(pt_runtime_traits::pointer<pt_runtime_traits>(new trackhat_metadata))
+{
+}
+
+OPENTRACK_DECLARE_TRACKER(trackhat_pt, trackhat_dialog, trackhat_module)
diff --git a/tracker-trackhat/metadata.hpp b/tracker-trackhat/metadata.hpp
new file mode 100644
index 00000000..c0f7567c
--- /dev/null
+++ b/tracker-trackhat/metadata.hpp
@@ -0,0 +1,21 @@
+#pragma once
+#include "trackhat.hpp"
+#include "../tracker-pt/ftnoir_tracker_pt.h"
+
+class trackhat_pt final : public Tracker_PT
+{
+    Q_OBJECT
+
+public:
+    trackhat_pt();
+};
+
+class trackhat_module final : public Metadata
+{
+    Q_OBJECT
+
+public:
+    QString name() override { return tr("TrackHat Point Tracker"); }
+    QIcon icon() override { return QIcon(":/images/trackhat-64x64.png"); }
+    static const QString module_name;
+};
diff --git a/tracker-trackhat/settings.cpp b/tracker-trackhat/settings.cpp
new file mode 100644
index 00000000..ec46b1e9
--- /dev/null
+++ b/tracker-trackhat/settings.cpp
@@ -0,0 +1,147 @@
+#include "trackhat.hpp"
+#include "compat/sleep.hpp"
+#include "compat/timer.hpp"
+
+namespace trackhat_impl {
+
+trackhat_settings::trackhat_settings() : opts{"tracker-trackhat"}
+{
+}
+int trackhat_settings::effective_exposure() const
+{
+    return std::clamp((int)*exposure, min_exposure, max_exposure);
+}
+int trackhat_settings::effective_gain() const
+{
+    return min_gain + std::clamp((int)*exposure - max_exposure, 0, max_gain - min_gain);
+}
+
+void setting_receiver::settings_changed()
+{
+    changed = true;
+}
+
+bool setting_receiver::test_and_clear()
+{
+    bool x = true;
+    return changed.compare_exchange_strong(x, false);
+}
+
+setting_receiver::setting_receiver(bool value) : changed{value}
+{
+}
+
+} // 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_mystery_meat:
+    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;
+    case model_mystery_meat:
+        break;
+    }
+
+    s.dynamic_pose = t.model == model_cap;
+    s.init_phase_timeout = 500;
+
+    s.camera_name = QStringLiteral("TrackHat Sensor (WIP)");
+
+    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.point_filter_limit = *t.point_filter_limit;
+    s.point_filter_deadzone = *t.point_filter_deadzone;
+}
+
+bool trackhat_camera::init_regs()
+{
+    auto exp    = (uint8_t)t.effective_exposure();
+    auto exp2   = (uint8_t)(exp == 0xff ? 0xf0 : 0xff);
+    auto thres  = (uint8_t)0xfe;
+    auto thres2 = (uint8_t)3;
+
+    auto gain   = (uint8_t)t.effective_gain();
+    auto gain_c = (uint8_t)(gain/0x10);
+    gain %= 0x10; gain_c %= 4;
+
+    trackHat_SetRegisterGroup_t regs = {
+        {
+            { 0x0c, 0x0f, exp2   },  // exposure lo
+            { 0x0c, 0x10, exp    },  // exposure hi
+            { 0x00, 0x0b, 0xff   },  // blob area max size
+            { 0x00, 0x0c, 0x03   },  // blob area min size
+            { 0x0c, 0x08, gain   },  // gain
+            { 0x0c, 0x0c, gain_c },  // gain multiplier
+            { 0x0c, 0x47, thres  },  // min brightness
+            { 0x00, 0x0f, thres2 },  // brightness margin, formula is `thres >= px > thres - fuzz'
+            { 0x00, 0x01, 0x01   },  // bank0 sync
+            { 0x01, 0x01, 0x01   },  // bank1 sync
+        },
+        10
+    };
+
+    Timer t;
+
+    constexpr int max = 5;
+    int i = 0;
+    for (i = 0; i < max; i++)
+    {
+        TH_ErrorCode status = TH_SUCCESS;
+        status = th_check(trackHat_SetRegisterGroupValue(&*device, &regs));
+        if (status == TH_SUCCESS)
+            break;
+        else if (status != TH_FAILED_TO_SET_REGISTER &&
+                 status != TH_ERROR_DEVICE_COMMUNICATION_TIMEOUT)
+            return false;
+        else
+        {
+            auto dbg = qDebug();
+            dbg << "tracker/trackhat: set register retry attempt";
+            dbg.space(); dbg.nospace();
+            dbg << i << "/" << max;
+            portable::sleep(50);
+        }
+    }
+
+    if (i == max)
+        return false;
+
+    if (int elapsed = (int)t.elapsed_ms(); elapsed > 100)
+        qDebug() << "tracker/trackhat: setting registers took" << elapsed << "ms";
+
+    return true;
+}
diff --git a/tracker-trackhat/tracker_trackhat.qrc b/tracker-trackhat/tracker_trackhat.qrc
new file mode 100644
index 00000000..d54010a0
--- /dev/null
+++ b/tracker-trackhat/tracker_trackhat.qrc
@@ -0,0 +1,5 @@
+<RCC>
+    <qresource prefix="/">
+        <file>images/trackhat-64x64.png</file>
+    </qresource>
+</RCC>
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
new file mode 100644
index 00000000..d94841d2
--- /dev/null
+++ b/tracker-trackhat/trackhat.hpp
@@ -0,0 +1,180 @@
+#pragma once
+
+#include "../tracker-pt/pt-api.hpp"
+#include "compat/macros.hpp"
+#include "options/options.hpp"
+
+#include <track_hat_driver.h>
+
+#include <array>
+#include <atomic>
+#include <opencv2/core/mat.hpp>
+
+enum model_type : int
+{
+    model_cap = 1,
+    model_clip_left,
+    model_clip_right,
+    model_mini_clip_left,
+    model_mini_clip_right,
+    model_mystery_meat,
+};
+
+namespace trackhat_impl
+{
+using namespace options;
+
+TH_ErrorCode log_error(TH_ErrorCode error, const char* source, const char* file, int line, const char* function);
+#define th_check_(expr, expr2) ::trackhat_impl::log_error((expr), expr2)
+#define th_check(expr) ::trackhat_impl::log_error((expr), #expr, __FILE__, __LINE__, function_name)
+
+struct trackhat_settings : opts
+{
+    static constexpr int min_gain = 16, max_gain = 47,
+                         min_exposure = 0x10, max_exposure = 0xff;
+    static constexpr int num_exposure_steps = max_gain + max_exposure - min_gain - min_exposure;
+    int effective_exposure() const;
+    int effective_gain() const;
+    trackhat_settings();
+    value<slider_value> exposure{b, "exposure", {min_exposure, min_exposure, max_exposure + max_gain - min_gain}};
+    //value<slider_value> threshold{b, "threshold", {0x97, 64, 0xfe}};
+    value<model_type> model{b, "model", model_mini_clip_left};
+    value<double> min_pt_size{b, "min-point-size", 10};
+    value<double> max_pt_size{b, "max-point-size", 50};
+    value<bool> enable_point_filter{b, "enable-point-filter", true };
+    value<slider_value> point_filter_coefficient{b, "point-filter-coefficient", { 1.5, 1, 4 }};
+    value<slider_value> point_filter_limit { b, "point-filter-limit", { 0.1, 0.01, 1 }};
+    value<slider_value> point_filter_deadzone { b, "point-filter-deadzone", {0, 0, 1}};
+};
+
+class setting_receiver : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit setting_receiver(bool value);
+    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;
+    pt_runtime_traits::pointer<pt_point_extractor> make_point_extractor() const override;
+    pt_runtime_traits::pointer<pt_frame> make_frame() const override;
+    pt_runtime_traits::pointer<pt_preview> make_preview(int w, int h) const override;
+    QString get_module_name() const override;
+
+    OTR_DISABLE_MOVE_COPY(trackhat_metadata);
+
+    trackhat_metadata() = default;
+    ~trackhat_metadata() override = default;
+
+    static const QString module_name;
+};
+
+struct point
+{
+    int brightness = 0, area, x, y, W, H;
+    bool ok = false;
+};
+
+struct camera_handle final
+{
+    OTR_DISABLE_MOVE_COPY(camera_handle);
+    trackHat_Device_t* operator->() { return &device_; }
+    trackHat_Device_t& operator*() { return device_; }
+
+    camera_handle() = default;
+    ~camera_handle() = default;
+
+    [[nodiscard]] bool ensure_connected();
+    [[nodiscard]] bool ensure_device_exists();
+    void disconnect();
+private:
+    trackHat_Device_t device_ = {};
+    enum state { st_stopped, st_detected, st_streaming, };
+    state state_ = st_stopped;
+};
+
+struct trackhat_camera final : pt_camera
+{
+    trackhat_camera();
+    ~trackhat_camera() override;
+
+    OTR_DISABLE_MOVE_COPY(trackhat_camera);
+
+    bool start(const pt_settings& s) override;
+    void stop() override;
+
+    pt_camera::result get_frame(pt_frame& frame) override;
+    pt_camera::result get_info() const override;
+    pt_camera_info get_desired() const override;
+
+    QString get_desired_name() const override;
+    QString get_active_name() const override;
+
+    void set_fov(f value) override;
+    void show_camera_settings() override;
+
+    f deadzone_amount() const override { return 10; }
+
+    static constexpr int sensor_size = 2940;
+    static constexpr int sensor_fov = 52;
+    static constexpr int point_count = TRACK_HAT_NUMBER_OF_POINTS;
+    static constexpr bool debug_mode = true;
+
+private:
+    trackhat_impl::setting_receiver sig{true};
+
+    [[nodiscard]] bool init_regs();
+    void set_pt_options();
+
+    camera_handle device;
+    pt_settings s{trackhat_metadata::module_name};
+    trackhat_settings t;
+};
+
+struct trackhat_frame final : pt_frame
+{
+    void init_points(const trackHat_ExtendedPoints_t& points, double min_size, double max_size);
+    trackhat_frame() = default;
+    ~trackhat_frame() override = default;
+
+    std::array<point, trackhat_camera::point_count> points;
+};
+
+struct trackhat_preview final : pt_preview
+{
+    QImage get_bitmap() override;
+    void draw_head_center(f x, f y) override;
+    void set_last_frame(const pt_frame&) override; // NOLINT(misc-unconventional-assign-operator)
+
+    trackhat_preview(int w, int h);
+    ~trackhat_preview() override = default;
+    void draw_points();
+    void draw_center();
+
+    OTR_DISABLE_MOVE_COPY(trackhat_preview);
+
+    cv::Mat frame_bgr, frame_bgra;
+    numeric_types::vec2 center{-1, -1};
+    std::array<point, trackhat_camera::point_count> points;
+};
+
+struct trackhat_extractor final : pt_point_extractor
+{
+    void extract_points(const pt_frame& data, pt_preview&, bool, std::vector<vec2>& points) override;
+
+    OTR_DISABLE_MOVE_COPY(trackhat_extractor);
+
+    trackhat_extractor() = default;
+    ~trackhat_extractor() override = default;
+};