1 files changed, 89 insertions, 0 deletions
diff --git a/tracker-trackhat/trackhat.hpp b/tracker-trackhat/trackhat.hpp
new file mode 100644
index 00000000..eaf0e2df
--- /dev/null
+++ b/tracker-trackhat/trackhat.hpp
@@ -0,0 +1,89 @@
+#pragma once
+
+#include "../tracker-pt/pt-api.hpp"
+#include "track_hat_driver.h"
+#include "compat/macros.hpp"
+
+#include <opencv2/core.hpp>
+
+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;
+
+    static constexpr int sensor_size = 2940*2;
+    static constexpr int sensor_fov = 52;
+    static constexpr int point_count = TRACK_HAT_NUMBER_OF_POINTS;
+
+private:
+    enum device_status { th_noinit, th_init, th_detect, th_connect, th_running, };
+
+    trackHat_Device_t device {};
+    device_status status = th_noinit;
+    TH_ErrorCode error_code = TH_SUCCESS;
+};
+
+struct trackhat_frame final : pt_frame
+{
+    trackHat_Points_t points = {};
+
+    trackhat_frame() = default;
+    ~trackhat_frame() override = default;
+};
+
+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};
+    trackHat_Points_t 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;
+};
+
+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;
+};