Walabot API Beta
All you need to know to create a Walabot Application
WalabotAPI.h File Reference

Go to the source code of this file.

Classes

struct  vcomplex_struct
 Phasor is a complex number which includes the data on the amplitude and the phase of the reflected signal. More...
 
struct  AntennaPair_struct
 Antenna pair for Walabot_GetAntennaPairs() More...
 
struct  ImagingTarget_struct
 < Imaging Tagret parameters More...
 
struct  SensorTarget_struct
 < Sensor Tagret parameters More...
 
struct  TrackerTarget_struct
 < Tracker Tagret parameters More...
 

Macros

#define WALABOT_API
 
#define PARAM_DIELECTRIC_CONSTANT   ((char*)"DielectricConstant")
 
#define PARAM_CONFIDENCE_FACTOR   ((char*)"ConfidenceFactor")
 

Typedefs

typedef enum WALABOT_RESULT_ENUM WALABOT_RESULT
 
typedef struct vcomplex_struct vcomplex
 Phasor is a complex number which includes the data on the amplitude and the phase of the reflected signal. More...
 
typedef struct AntennaPair_struct AntennaPair
 Antenna pair for Walabot_GetAntennaPairs() More...
 
typedef struct ImagingTarget_struct ImagingTarget
 < Imaging Tagret parameters More...
 
typedef struct SensorTarget_struct SensorTarget
 < Sensor Tagret parameters More...
 
typedef struct TrackerTarget_struct TrackerTarget
 < Tracker Tagret parameters More...
 

Enumerations

enum  WALABOT_RESULT_ENUM { WALABOT_SUCCESS, WALABOT_ERROR }
 
enum  APP_PROFILE {
  PROF_SHORT_RANGE_IMAGING = 0x00010000, PROF_SHORT_RANGE_SINGLE_LINE, PROF_KNOCK_KNOCK, PROF_SENSOR = 0x00020000,
  PROF_SENSOR_NARROW, PROF_TRACKER = 0x00030000
}
 < Scan profile for Walabot_SetProfile(); see Imaging Features More...
 
enum  APP_STATUS {
  STATUS_CLEAN, STATUS_INITIALIZED, STATUS_CONNECTED, STATUS_CONFIGURED,
  STATUS_SCANNING, STATUS_CALIBRATING, STATUS_CALIBRATING_NO_MOVEMENT
}
 < Walabot status returned by Walabot_GetStatus() More...
 
enum  TARGET_TYPE {
  TARGET_TYPE_UNKNOWN, TARGET_TYPE_PIPE, TARGET_TYPE_STUD, TARGET_TYPE_STUD90,
  TARGET_TYPE_STUD_METAL, TARGET_TYPE_OTHER
}
 
enum  FILTER_TYPE { FILTER_TYPE_NONE, FILTER_TYPE_DERIVATIVE, FILTER_TYPE_MTI }
 < Dynamic-imaging filter algorithm for Walabot_SetDynamicImageFilter() More...
 

Functions

WALABOT_RESULT Walabot_Initialize (const char *configFilename)
 
WALABOT_RESULT Walabot_Clean ()
 
int Walabot_GetExtendedError ()
 Obtains more error information for Vayyar support. More...
 
const char * Walabot_GetErrorString ()
 Obtains the detailed string of the last error. More...
 
WALABOT_RESULT Walabot_SetSettingsFolder (char *folder)
 Obtains Sets location of Walabot internal database, if moved from default. More...
 
WALABOT_RESULT Walabot_GetInstrumentsList (int bufMaxSize, char *outputBuffer)
 This function is reserved for future use
Obtains a list of connected Walabots. More...
 
WALABOT_RESULT Walabot_Connect (char *uid)
 This function is reserved for future use
Establishes communication with a specified Walabot device. More...
 
WALABOT_RESULT Walabot_ConnectAny ()
 Establishes communication with Walabot. More...
 
WALABOT_RESULT Walabot_Disconnect ()
 Stops communication with Walabot. More...
 
WALABOT_RESULT Walabot_Start ()
 Starts Walabot in preparation for scanning. More...
 
WALABOT_RESULT Walabot_Stop ()
 Stops Walabot when finished scanning. More...
 
WALABOT_RESULT Walabot_Trigger ()
 Initiates a scan and records signals. More...
 
WALABOT_RESULT Walabot_GetAntennaPairs (AntennaPair **antennaPairs, int *numPairs)
 Obtains a list of Walabot antenna pairs. More...
 
WALABOT_RESULT Walabot_GetSignal (int txAntenna, int rxAntenna, double **signal, double **timeAxis, int *numSamples)
 Obtains raw signals data from specified antennas. CURRENTLY NOT SUPPORTED FOR TRACKER PROFILE. More...
 
WALABOT_RESULT Walabot_SetProfile (APP_PROFILE profile)
 Sets scan profile. More...
 
WALABOT_RESULT Walabot_GetStatus (APP_STATUS *status, double *param)
 Obtains Walabot status. More...
 
WALABOT_RESULT Walabot_StartCalibration ()
 Initiates calibration. More...
 
WALABOT_RESULT Walabot_CancelCalibration ()
 Stops calibration. More...
 
WALABOT_RESULT Walabot_SetThreshold (double value)
 Changes the sensitivity threshold. More...
 
WALABOT_RESULT Walabot_GetThreshold (double *threshold)
 Obtains the current sensitivity threshold. More...
 
WALABOT_RESULT Walabot_SetArenaX (double min, double max, double res)
 Sets X-axis range and resolution of arena. More...
 
WALABOT_RESULT Walabot_SetArenaY (double min, double max, double res)
 Sets Y-axis range and resolution of arena. More...
 
WALABOT_RESULT Walabot_SetArenaZ (double start, double end, double res)
 Sets Z-axis range and resolution of arena. More...
 
WALABOT_RESULT Walabot_SetArenaR (double start, double end, double res)
 Sets radial (r) range and resolution of arena. More...
 
WALABOT_RESULT Walabot_SetArenaTheta (double min, double max, double res)
 Sets polar (Θ) range and resolution of arena. More...
 
WALABOT_RESULT Walabot_SetArenaPhi (double min, double max, double res)
 Sets azimuth (Φ) range and resolution of arena. More...
 
WALABOT_RESULT Walabot_GetArenaX (double *min, double *max, double *res)
 Obtains current X-axis range and resolution of arena. More...
 
WALABOT_RESULT Walabot_GetArenaZ (double *start, double *end, double *res)
 Obtains current Z-axis range and resolution of arena. More...
 
WALABOT_RESULT Walabot_GetArenaY (double *min, double *max, double *res)
 Obtains current Y-axis range and resolution of arena. More...
 
WALABOT_RESULT Walabot_GetArenaR (double *start, double *end, double *res)
 Obtains radial (r) range and resolution of arena. More...
 
WALABOT_RESULT Walabot_GetArenaTheta (double *min, double *max, double *res)
 Obtains polar (Θ) range and resolution of arena. More...
 
WALABOT_RESULT Walabot_GetArenaPhi (double *min, double *max, double *res)
 Obtains azimuth (Φ) range and resolution of arena. More...
 
WALABOT_RESULT Walabot_GetRawImageSlice (int **rasterImage, int *sizeX, int *sizeY, double *sliceDepth, double *power)
 Provides bidimensional (2-D) image data of the 3D image projected to a plane. More...
 
WALABOT_RESULT Walabot_GetRawImage (int **rasterImage, int *sizeX, int *sizeY, int *sizeZ, double *power)
 Provides tridimensional (3-D) image data. More...
 
WALABOT_RESULT Walabot_GetImageEnergy (double *energy)
 Provides the sum of all the raw image’s pixels’ signal power. More...
 
WALABOT_RESULT Walabot_GetImagingTargets (ImagingTarget **targets, int *numTargets)
 Provides a list of and the number of identified targets. More...
 
WALABOT_RESULT Walabot_GetSensorTargets (SensorTarget **targets, int *numTargets)
 Provides a list of and the number of identified targets. More...
 
WALABOT_RESULT Walabot_GetTrackerTargets (TrackerTarget **targets, int *numTargets)
 Provides a list of and the number of identified targets. More...
 
WALABOT_RESULT Walabot_SetDynamicImageFilter (FILTER_TYPE type)
 Dynamic-imaging filter removes static signals, leaving only changing signals. More...
 
WALABOT_RESULT Walabot_GetDynamicImageFilter (FILTER_TYPE *type)
 Obtains current Walabot Dynamic-imaging filter setting. More...
 
WALABOT_RESULT Walabot_GetVersion (char **version)
 Obtains current Walabot version. More...
 
WALABOT_RESULT Walabot_SetAdvancedParameter (char *paramName, double value)
 Set advanced Walabot parameter. More...
 
WALABOT_RESULT Walabot_GetAdvancedParameter (char *paramName, double *value)
 Obtains current Walabot advnaced parameter value. More...
 
WALABOT_RESULT Walabot_GetAntennaLocation (int antennaNum, double &X, double &Y, double &Z)
 

Macro Definition Documentation

◆ PARAM_CONFIDENCE_FACTOR

#define PARAM_CONFIDENCE_FACTOR   ((char*)"ConfidenceFactor")

Walabot internal pipe sensor detection percentage. Read only parameter.

Definition at line 1284 of file WalabotAPI.h.

◆ PARAM_DIELECTRIC_CONSTANT

#define PARAM_DIELECTRIC_CONSTANT   ((char*)"DielectricConstant")

The linear permittivity of a homogeneous material is usually given relative to that of free space,
as a relative permittivity εr. Valid values {1-30}

Definition at line 1278 of file WalabotAPI.h.

◆ WALABOT_API

#define WALABOT_API

Definition at line 712 of file WalabotAPI.h.

Typedef Documentation

◆ AntennaPair

Antenna pair for Walabot_GetAntennaPairs()

◆ ImagingTarget

< Imaging Tagret parameters

◆ SensorTarget

< Sensor Tagret parameters

◆ TrackerTarget

< Tracker Tagret parameters

◆ vcomplex

typedef struct vcomplex_struct vcomplex

Phasor is a complex number which includes the data on the amplitude and the phase of the reflected signal.

◆ WALABOT_RESULT

Enumeration Type Documentation

◆ APP_PROFILE

< Scan profile for Walabot_SetProfile(); see Imaging Features

Enumerator
PROF_SHORT_RANGE_IMAGING 

Short-range, penetrative scanning in dielectric materials. Only available for Walabot Developer.

PROF_SHORT_RANGE_SINGLE_LINE 

Short-range, small number of antennas pairs - This profile currently not in use.

PROF_KNOCK_KNOCK 

This profile currently not in use.

PROF_SENSOR 

Distance scanning through air; high-resolution images, but slower capture rate.

PROF_SENSOR_NARROW 

Distance scanning through air; lower-resolution images for a fast capture rate, useful for tracking quick movement.

PROF_TRACKER 

Definition at line 635 of file WalabotAPI.h.

◆ APP_STATUS

enum APP_STATUS

< Walabot status returned by Walabot_GetStatus()

Enumerator
STATUS_CLEAN 
STATUS_INITIALIZED 

No communication with Walabot.

STATUS_CONNECTED 

Communication established with Walabot, but no Profile set.

STATUS_CONFIGURED 

Profile set, but not currently scanning or calibrating.

STATUS_SCANNING 

Prepared for scanning by Walabot_Start, and not currently calibrating.

STATUS_CALIBRATING 

Now calibrating; in this case Walabot_GetStatus() also provides percentage completed.

STATUS_CALIBRATING_NO_MOVEMENT 

TODO: doc.

Definition at line 647 of file WalabotAPI.h.

◆ FILTER_TYPE

< Dynamic-imaging filter algorithm for Walabot_SetDynamicImageFilter()

Enumerator
FILTER_TYPE_NONE 

Default, no filtering.

FILTER_TYPE_DERIVATIVE 

Dynamic-imaging filter for the specific frequencies typical of breathing.

FILTER_TYPE_MTI 

Moving Target Identification: standard dynamic-imaging filter:

Definition at line 668 of file WalabotAPI.h.

◆ TARGET_TYPE

Enumerator
TARGET_TYPE_UNKNOWN 
TARGET_TYPE_PIPE 
TARGET_TYPE_STUD 
TARGET_TYPE_STUD90 
TARGET_TYPE_STUD_METAL 
TARGET_TYPE_OTHER 

Definition at line 658 of file WalabotAPI.h.

◆ WALABOT_RESULT_ENUM

Enumerator
WALABOT_SUCCESS 

Operation successful.

WALABOT_ERROR 

A general error occurred. Inspect the error logs for more information.

Definition at line 617 of file WalabotAPI.h.

Function Documentation

◆ Walabot_CancelCalibration()

WALABOT_RESULT Walabot_CancelCalibration ( )

Stops calibration.

To check on calibration progress, use Walabot_GetStatus().

Returns
WALABOT_RESULT
See also
Code Implementation Flow
Walabot_GetStatus
Walabot_StartCalibration

◆ Walabot_Clean()

WALABOT_RESULT Walabot_Clean ( )

◆ Walabot_Connect()

WALABOT_RESULT Walabot_Connect ( char *  uid)

This function is reserved for future use
Establishes communication with a specified Walabot device.

Connection is required before Walabot_Start().
If only a single Walabot device is present, it is simpler to use Walabot_ConnectAny().

Parameters
[in]uidWalabot device ID obtained from Walabot_GetInstrumentsList()
Returns
WALABOT_RESULT
See also
Walabot_ConnectAny

◆ Walabot_ConnectAny()

WALABOT_RESULT Walabot_ConnectAny ( )

Establishes communication with Walabot.

Connection is required before Walabot_Start().
If multiple Walabots are present, a single available Walabot is selected; to specify one, use Walabot_Connect().

Returns
WALABOT_RESULT
See also
Code Implementation Flow
Walabot_Connect
Walabot_Disconnect

◆ Walabot_Disconnect()

WALABOT_RESULT Walabot_Disconnect ( )

Stops communication with Walabot.

Returns
WALABOT_RESULT
See also
Walabot_Connect
Walabot_Disconnect

◆ Walabot_GetAdvancedParameter()

WALABOT_RESULT Walabot_GetAdvancedParameter ( char *  paramName,
double *  value 
)

Obtains current Walabot advnaced parameter value.

Function returns Walabot advance parameter.

Parameters
[in]paramNameadvance parameter name, can be one of the following: PARAM_CONFIDENCE_FACTOR , PARAM_DIELECTRIC_CONSTANT
[out]valueparamName current value
Returns
WALABOT_RESULT
See also
Walabot_SetAdvancedParameter

◆ Walabot_GetAntennaLocation()

WALABOT_RESULT Walabot_GetAntennaLocation ( int  antennaNum,
double &  X,
double &  Y,
double &  Z 
)

◆ Walabot_GetAntennaPairs()

WALABOT_RESULT Walabot_GetAntennaPairs ( AntennaPair **  antennaPairs,
int *  numPairs 
)

Obtains a list of Walabot antenna pairs.

For use before Walabot_GetSignal(). To identify the antennas on your Walabot device, see the specifications for your model.

Parameters
[out]antennaPairsList of antenna pairs
[out]numPairsThe number of antenna pairs in the list
Returns
WALABOT_RESULT
See also
Walabot_GetSignal

◆ Walabot_GetArenaPhi()

WALABOT_RESULT Walabot_GetArenaPhi ( double *  min,
double *  max,
double *  res 
)

Obtains azimuth (Φ) range and resolution of arena.

Can be changed with Walabot_SetArenaPhi().
For coordinate directions, see Coordinate Systems.
Spherical (r-Θ-Φ) coordinates are relevant only to get image data from a triggered scan that used one of the Sensor profiles. Otherwise the Walabot_SetArena functions for cartesian (X-Y-Z) coordinates apply.

Parameters
[in]minBeginning of azimuth angular range (degrees)
[in]maxEnd of azimuth angular range (degrees)
[in]resAngle between pixels across polar angle (degrees)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaPhi

◆ Walabot_GetArenaR()

WALABOT_RESULT Walabot_GetArenaR ( double *  start,
double *  end,
double *  res 
)

Obtains radial (r) range and resolution of arena.

Can be changed with Walabot_SetArenaR().
For coordinate directions, see Coordinate Systems.
Spherical (r-Θ-Φ) coordinates are relevant only to get image data from a triggered scan that used one of the Sensor profiles. Otherwise the Walabot_SetArena functions for cartesian (X-Y-Z) coordinates apply.

Parameters
[out]startBeginning of radial distance range (cm)
[out]endEnd of radial distance range (cm)
[out]resImage resolution along radius (cm)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaR

◆ Walabot_GetArenaTheta()

WALABOT_RESULT Walabot_GetArenaTheta ( double *  min,
double *  max,
double *  res 
)

Obtains polar (Θ) range and resolution of arena.

Can be changed with Walabot_SetArenaTheta().
For coordinate directions, see Coordinate Systems.
Spherical (r-Θ-Φ) coordinates are relevant only to get image data from a triggered scan that used one of the Sensor profiles. Otherwise the Walabot_SetArena functions for cartesian (X-Y-Z) coordinates apply.

Parameters
[in]minBeginning of polar angular range (degrees)
[in]maxEnd of polar angular range (degrees)
[in]resAngle between pixels across polar angle (degrees)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaTheta

◆ Walabot_GetArenaX()

WALABOT_RESULT Walabot_GetArenaX ( double *  min,
double *  max,
double *  res 
)

Obtains current X-axis range and resolution of arena.

Can be changed with Walabot_SetArenaX().
For coordinate directions, see Coordinate Systems.
Cartesian (X-Y-Z) coordinates are relevant only to get image data from a triggered scan that used the short-range profile. Otherwise the Walabot_SetArena functions for spherical (r-Θ-Φ) coordinates apply.

Parameters
[out]minBeginning of range on axis (cm)
[out]maxEnd of range on axis (cm)
[out]resDistance between pixels along axis (cm)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaX

◆ Walabot_GetArenaY()

WALABOT_RESULT Walabot_GetArenaY ( double *  min,
double *  max,
double *  res 
)

Obtains current Y-axis range and resolution of arena.

Can be changed with Walabot_SetArenaY().
For coordinate directions, see Coordinate Systems.
Cartesian (X-Y-Z) coordinates are relevant only to get image data from a triggered scan that used the short-range profile. Otherwise the Walabot_SetArena functions for spherical (r-Θ-Φ) coordinates apply.

Parameters
[out]minBeginning of range on axis (cm)
[out]maxEnd of range on axis (cm)
[out]resDistance between pixels along axis (cm)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaY

◆ Walabot_GetArenaZ()

WALABOT_RESULT Walabot_GetArenaZ ( double *  start,
double *  end,
double *  res 
)

Obtains current Z-axis range and resolution of arena.

Can be changed with Walabot_SetArenaZ().
For coordinate directions, see Coordinate Systems.
Cartesian (X-Y-Z) coordinates are relevant only to get image data from a triggered scan that used the short-range profile. Otherwise the Walabot_SetArena functions for spherical (r-Θ-Φ) coordinates apply.

Parameters
[out]startBeginning of range on axis (cm)
[out]endEnd of range on axis (cm)
[out]resDistance between pixels along axis (cm)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaZ

◆ Walabot_GetDynamicImageFilter()

WALABOT_RESULT Walabot_GetDynamicImageFilter ( FILTER_TYPE type)

Obtains current Walabot Dynamic-imaging filter setting.

Can be called at any time, default value is FILTER_TYPE_NONE

Parameters
[out]typeDynamic-imaging filter current setting.
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_GetDynamicImageFilter

◆ Walabot_GetErrorString()

const char* Walabot_GetErrorString ( )

Obtains the detailed string of the last error.

Returns
::const char*

◆ Walabot_GetExtendedError()

int Walabot_GetExtendedError ( )

Obtains more error information for Vayyar support.

Returns
WALABOT_RESULT

◆ Walabot_GetImageEnergy()

WALABOT_RESULT Walabot_GetImageEnergy ( double *  energy)

Provides the sum of all the raw image’s pixels’ signal power.

Requires previous Walabot_Trigger(); provides data based on last completed triggered image.
Provided image data is dependent on current configured arena.

Parameters
[out]energyNumber representing the sum of all the raw image’s pixels’ signal power
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow Walabot_Trigger

◆ Walabot_GetImagingTargets()

WALABOT_RESULT Walabot_GetImagingTargets ( ImagingTarget **  targets,
int *  numTargets 
)

Provides a list of and the number of identified targets.

Available only if the short-range scan profile was used.
Requires previous Walabot_Trigger(); provides data based on last completed triggered image.
Provided image data is dependent on current configured arena and on current configuration from Walabot_SetDynamicImageFilter() and Walabot_SetThreshold(). Note: In the current API version, provides only the single target with the strongest signal, in format appropriate for pipe

Parameters
[out]targetsList of identified targets (in current API version, a single target)
[out]numTargetsNumber of identified targets (in current API version, 1)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow Walabot_Trigger
Walabot_GetSensorTargets

◆ Walabot_GetInstrumentsList()

WALABOT_RESULT Walabot_GetInstrumentsList ( int  bufMaxSize,
char *  outputBuffer 
)

This function is reserved for future use
Obtains a list of connected Walabots.

For use before Walabot_Connect(); a Walabot ID obtained here is used to identify the device to connect to.
Input details of a memory buffer (size and location) to which Walabot will copy the list of connected Walabot IDs.

Parameters
[in]bufMaxSizeAvailable size of the provided memory buffer
[in]outputBufferLocation of the provided memory buffer
Returns
WALABOT_RESULT
See also
Code Implementation Flow
Walabot_Connect

◆ Walabot_GetRawImage()

WALABOT_RESULT Walabot_GetRawImage ( int **  rasterImage,
int *  sizeX,
int *  sizeY,
int *  sizeZ,
double *  power 
)

Provides tridimensional (3-D) image data.

Image data is a 3-dimensional matrix in which each element represents the reflected power at (x,y,z) spatial location corresponding to this element indexing in the matrix.
The coordinates are according to the profile used. For sensor profile, the coordinates are Theta-Phi-R (polar coordinates) ,
while for short-range sensor, the coordinates are to X-Y-Z plane (carthesian coordinates). The matrix is transferred using a vector which is the concatenated matrix rows.
Meaning; assuming 3D matrix with indexes i, j & k. the vector is represented as followed:

// 3D index is represnted is the following schema {i,j,k}
// sizeX - represnts the i dimension length
// sizeY - represnts the j dimension length
// sizeZ - represnts the k dimension length
// img3d - represtes the walabot 3D scanned image (internal data)
int index = (sizeX * ((k * sizeY) + j)) + i;
double normalized_abs_val = abs( img3d[i][j][k] ); // normalized_abs_val is between 0 to 1
rasterImage[index] = (int)(normalized_abs_val * 255);

Each index represent the location alone it's axis according to the arena defined.
For Carthesian coordinates Arena ( see Walabot_SetArenaX(), Walabot_SetArenaY(), Walabot_SetArenaZ()).
E.g.:

x = xMin + i * (xMax-xMin) / (sizeX-1);
y = yMin + j *(yMax-yMin) / (sizeY-1);
z = zMin + k *(zMax-zMin) / (sizeZ-1);

For Polar coordinates Arena ( see Walabot_SetArenaR(), Walabot_SetArenaTheta(), Walabot_SetArenaPhi()).
E.g.:

Theta = thetaMin + i * (thetaMax-thetaMin) / (sizeX-1);
Phi = phiMin + j *(phiMax-phiMin) / (sizeY-1);
R = RMin + k *(RMax-RMin) / (sizeZ-1);

Requires previous Walabot_Trigger(); provides data based on last completed triggered image.
Output is details of array variable populated by provided image data.
Provided image data is dependent on current configured arena and on current configuration from Walabot_SetDynamicImageFilter() and Walabot_SetThreshold().

Parameters
[out]rasterImageName of array variable populated by output image data
[out]sizeXDimension of array variable populated by output image data
[out]sizeYDimension of array variable populated by output image data
[out]sizeZDimension of array variable populated by output image data
[out]powerPeak measured power in arena (value of strongest pixel)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow Walabot_Trigger
Walabot_GetRawImageSlice

◆ Walabot_GetRawImageSlice()

WALABOT_RESULT Walabot_GetRawImageSlice ( int **  rasterImage,
int *  sizeX,
int *  sizeY,
double *  sliceDepth,
double *  power 
)

Provides bidimensional (2-D) image data of the 3D image projected to a plane.

Image data is a 2-dimensional projection matrix of the 3D Raw image which can be obtained using Walabot_GetRawImage function.
In this 2D matrix element represents the reflection strength at spatial location corresponding to this element indexing in the matrix.
The projection is done according to the profile used. For sensor profile, the projection is to Phi-R (polar coordinates) plane,
while for short-range sensor, the projection is to X-Y plane (carthesian coordinates). One can always use the original 3D raw data to create other planes of interests.
The value of the element indicated the reflected power measured in its location.
The matrix is transferred using a vector which is the concatenated matrix rows. meaning; assuming 2D matrix with indexes i, j.
The vector is represented as followed:

// 2D index is represnted is the following schema {i,j}
// sizeX - represnts the i dimension length
// sizeY - represnts the j dimension length
// img3d - represtes the walabot 2D scanned image (internal data)
int index = (sizeX * ((k * sizeY) + j)) + i;
double normalized_abs_val = abs( img3d[i][j] ); // normalized_abs_val is between 0 to 1
rasterImage[index] = (int)(normalized_abs_val * 255);

Each index represent the location alone it's axis according to the arena defined. E.g.:
For Carthesian coordinates Arena ( see Walabot_SetArenaX(), Walabot_SetArenaY()).
E.g.:

x = xMin + i * (xMax-xMin) / (sizeX-1);
y = yMin + j *(yMax-yMin) / (sizeY-1);

For Polar coordinates Arena ( see Walabot_SetArenaR(), Walabot_SetArenaPhi()).
E.g.:

Phi = phiMin + i *(phiMax-phiMin) / (sizeX-1);
R = RMin + j *(RMax-RMin) / (sizeY-1);

Requires previous Walabot_Trigger(); provides data based on last completed triggered image.
Output is details of array variable populated by provided image data.
Provided image data is dependent on current configured arena and on current configuration from Walabot_SetDynamicImageFilter() and Walabot_SetThreshold().

Parameters
[out]rasterImageName of array variable populated by output image data
[out]sizeXDimension of array variable populated by output image data
[out]sizeYDimension of array variable populated by output image data
[out]sliceDepththird dimension coordinate of maximum target power
[out]powerPeak measured power in arena (value of strongest pixel)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow Walabot_Trigger
Walabot_GetRawImage

◆ Walabot_GetSensorTargets()

WALABOT_RESULT Walabot_GetSensorTargets ( SensorTarget **  targets,
int *  numTargets 
)

Provides a list of and the number of identified targets.

Available only if one of the Sensor scan profiles was used.
Requires previous Walabot_Trigger(); provides data based on last completed triggered image.
Provided image data is dependent on current configured arena and on current configuration from Walabot_SetDynamicImageFilter() and Walabot_SetThreshold().

Parameters
[out]targetsList of identified targets
[out]numTargetsNumber of identified targets
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow Walabot_Trigger
Walabot_GetImagingTargets

◆ Walabot_GetSignal()

WALABOT_RESULT Walabot_GetSignal ( int  txAntenna,
int  rxAntenna,
double **  signal,
double **  timeAxis,
int *  numSamples 
)

Obtains raw signals data from specified antennas. CURRENTLY NOT SUPPORTED FOR TRACKER PROFILE.

Parameters
[in]txAntennaTransmitting antenna ID as obtained from Walabot_GetAntennaPairs()
[in]rxAntennaReceiving antenna ID as obtained from Walabot_GetAntennaPairs()
[out]signalList of amplitude values representing received signal amplitude in time domain
[out]timeAxistime axis ticks values
[out]numSamplesNumber of sample in the list
Returns
WALABOT_RESULT
See also
Walabot_GetAntennaPairs

◆ Walabot_GetStatus()

WALABOT_RESULT Walabot_GetStatus ( APP_STATUS status,
double *  param 
)

Obtains Walabot status.

For an explanation of possible statuses, see APP_STATUS.

Parameters
[out]statusWalabot's status
[out]paramPercentage of calibration completed, if status is STATUS_CALIBRATING
Returns
WALABOT_RESULT
See also
Code Implementation Flow

◆ Walabot_GetThreshold()

WALABOT_RESULT Walabot_GetThreshold ( double *  threshold)

Obtains the current sensitivity threshold.

To set the threshold, use Walabot_SetThreshold().

Parameters
[out]thresholdThe current threshold value
Returns
WALABOT_RESULT
See also
Code Implementation Flow

◆ Walabot_GetTrackerTargets()

WALABOT_RESULT Walabot_GetTrackerTargets ( TrackerTarget **  targets,
int *  numTargets 
)

Provides a list of and the number of identified targets.

Available only if one of the Tracker scan profiles was used.
Requires previous Walabot_Trigger(); provides data based on last completed triggered image.
Provided Tracked targets configured arena and on current configuration from Walabot_SetDynamicImageFilter() and Walabot_SetThreshold().

Parameters
[out]targetsList of identified targets
[out]numTargetsNumber of identified targets
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow Walabot_Trigger
Walabot_GetTrackerTargets

◆ Walabot_GetVersion()

WALABOT_RESULT Walabot_GetVersion ( char **  version)

Obtains current Walabot version.

Function returns Walabot version. The version is build from according to
the following parameters:
1) HW version - Walabot device revision.
2) SW version - Walabot SW revision.
3) Regulation information (where applicable).
The user needs to pass pointer to array, and function returns
a pointer to string (array of char) with the version.
The function can be called only after connecting to the device.

Parameters
[out]versionpointer to array of char with the version
Returns
WALABOT_RESULT
See also
Walabot_Connect
Walabot_ConnectAny

◆ Walabot_Initialize()

WALABOT_RESULT Walabot_Initialize ( const char *  configFilename)

◆ Walabot_SetAdvancedParameter()

WALABOT_RESULT Walabot_SetAdvancedParameter ( char *  paramName,
double  value 
)

Set advanced Walabot parameter.

Parameters
[in]paramNametype Filter algorithm to use PARAM_DIELECTRIC_CONSTANT
[in]valueadvance parameter set value
Returns
WALABOT_RESULT
See also
Walabot_GetDynamicImageFilter

◆ Walabot_SetArenaPhi()

WALABOT_RESULT Walabot_SetArenaPhi ( double  min,
double  max,
double  res 
)

Sets azimuth (Φ) range and resolution of arena.

For coordinate directions, see Coordinate Systems.
To check the current value, use Walabot_GetArenaPhi().
Spherical (r-Θ-Φ) coordinates should be used only to get image data from a triggered scan that used one of the Sensor profiles. Otherwise use the Walabot_SetArena functions for cartesian (X-Y-Z) coordinates.

Parameters
[in]minBeginning of azimuth angular range (degrees)
[in]maxEnd of azimuth angular range (degrees)
[in]resAngle between pixels across polar angle (degrees)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaR
Walabot_SetArenaTheta

◆ Walabot_SetArenaR()

WALABOT_RESULT Walabot_SetArenaR ( double  start,
double  end,
double  res 
)

Sets radial (r) range and resolution of arena.

For coordinate directions, see Coordinate Systems.
To check the current value, use Walabot_GetArenaR().
Spherical (r-Θ-Φ) coordinates should be used only to get image data from a triggered scan that used one of the Sensor profiles. Otherwise use the Walabot_SetArena functions for cartesian (X-Y-Z) coordinates.

Parameters
[in]startBeginning of radial distance range (cm)
[in]endEnd of radial distance range (cm)
[in]resDistance between pixels along radius (cm)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaTheta
Walabot_SetArenaPhi

◆ Walabot_SetArenaTheta()

WALABOT_RESULT Walabot_SetArenaTheta ( double  min,
double  max,
double  res 
)

Sets polar (Θ) range and resolution of arena.

For coordinate directions, see Coordinate Systems.
To check the current value, use Walabot_GetArenaTheta().
Spherical (r-Θ-Φ) coordinates should be used only to get image data from a triggered scan that used one of the Sensor profiles. Otherwise use the Walabot_SetArena functions for cartesian (X-Y-Z) coordinates.

Parameters
[in]minstart Beginning of polar angular range (degrees)
[in]maxend End of polar angular range (degrees)
[in]resAngle between pixels across polar angle (degrees)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaR
Walabot_SetArenaPhi

◆ Walabot_SetArenaX()

WALABOT_RESULT Walabot_SetArenaX ( double  min,
double  max,
double  res 
)

Sets X-axis range and resolution of arena.

For coordinate directions, see Coordinate Systems.
To check the current value, use Walabot_GetArenaX().
Note: Cartesian (X-Y-Z) coordinates should be used only to get image data from a triggered scan that used the short-range profile. Otherwise use the Walabot_SetArena functions for spherical (r-Θ-Φ) coordinates.

Parameters
[in]minBeginning of range on axis (cm)
[in]maxEnd of range on axis (cm)
[in]resDistance between pixels along axis (cm)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaY
Walabot_SetArenaZ

◆ Walabot_SetArenaY()

WALABOT_RESULT Walabot_SetArenaY ( double  min,
double  max,
double  res 
)

Sets Y-axis range and resolution of arena.

For coordinate directions, see Coordinate Systems.
To check the current value, use Walabot_GetArenaY().
Note: Cartesian (X-Y-Z) coordinates should be used only to get image data from a triggered scan that used the short-range profile. Otherwise use the Walabot_SetArena functions for spherical (r-Θ-Φ) coordinates.

Parameters
[in]minBeginning of range on axis (cm)
[in]maxEnd of range on axis (cm)
[in]resDistance between pixels along axis (cm)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaX
Walabot_SetArenaZ

◆ Walabot_SetArenaZ()

WALABOT_RESULT Walabot_SetArenaZ ( double  start,
double  end,
double  res 
)

Sets Z-axis range and resolution of arena.

For coordinate directions, see Coordinate Systems.
To check the current value, use Walabot_GetArenaZ().
Note: Cartesian (X-Y-Z) coordinates should be used only to get image data from a triggered scan that used the short-range profile. Otherwise use the Walabot_SetArena functions for spherical (r-Θ-Φ) coordinates.

Parameters
[in]startBeginning of range on axis (cm)
[in]endEnd of range on axis (cm)
[in]resDistance between pixels along axis (cm)
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_SetArenaX
Walabot_SetArenaY

◆ Walabot_SetDynamicImageFilter()

WALABOT_RESULT Walabot_SetDynamicImageFilter ( FILTER_TYPE  type)

Dynamic-imaging filter removes static signals, leaving only changing signals.

Specify filter algorithm to use. Filters are explained in Imaging Features.
Filter is not applied to Walabot_GetImageEnergy().
To check the current value, use Walabot_GetDynamicImageFilter().

Parameters
[in]typeFilter algorithm to use
Returns
WALABOT_RESULT
See also
Imaging Features
Code Implementation Flow
Walabot_GetDynamicImageFilter

◆ Walabot_SetProfile()

WALABOT_RESULT Walabot_SetProfile ( APP_PROFILE  profile)

Sets scan profile.

For an explanation of available profiles, see Imaging Features.

Parameters
[in]profileThe scan profile to use
Returns
WALABOT_RESULT
See also
Code Implementation Flow

◆ Walabot_SetSettingsFolder()

WALABOT_RESULT Walabot_SetSettingsFolder ( char *  folder)

Obtains Sets location of Walabot internal database, if moved from default.

Parameters
[in]folderDatabase location
Returns
WALABOT_RESULT

◆ Walabot_SetThreshold()

WALABOT_RESULT Walabot_SetThreshold ( double  value)

Changes the sensitivity threshold.

For raw images (3-D and Slice), Walabot removes very weak signals, below this threshold. If the threshold is not set, a default value is used.
For tracker profile, this threshold also controls the targets shown based on the accumulated power. To check the current value, use Walabot_GetThreshold().

Parameters
[in]valueThe threshold to set
Returns
WALABOT_RESULT
See also
Code Implementation Flow

◆ Walabot_Start()

WALABOT_RESULT Walabot_Start ( )

Starts Walabot in preparation for scanning.

Requires previous Connect (Walabot_ConnectAny() or Walabot_Connect() ) and Walabot_SetProfile().
Required before Walabot_Trigger() and GET actions.

Returns
WALABOT_RESULT
See also
Code Implementation Flow
Walabot_Stop

◆ Walabot_StartCalibration()

WALABOT_RESULT Walabot_StartCalibration ( )

Initiates calibration.

Ignores or reduces the signals of fixed reflectors such as walls according to environment.
Must be performed initially (to avoid delays – preferably before Walabot_Start()), upon any profile change, and is recommended upon possible changes to environment.
Calibration is done via recording and processing. So after calling StartCalibration, a continues trigger & GetImage/GetTargets function calls is required. To check on calibration progress, use Walabot_GetStatus().

Returns
WALABOT_RESULT
See also
Code Implementation Flow
Walabot_GetStatus
Walabot_CancelCalibration

◆ Walabot_Stop()

WALABOT_RESULT Walabot_Stop ( )

Stops Walabot when finished scanning.

Returns
WALABOT_RESULT
See also
Code Implementation Flow
Walabot_Start

◆ Walabot_Trigger()

WALABOT_RESULT Walabot_Trigger ( )

Initiates a scan and records signals.

Initiates a scan according to profile and records signals to be available for processing and retrieval.
Should be performed before every GET action.

Returns
WALABOT_RESULT
See also
Code Implementation Flow