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...

Macros
#define	WALABOT_API extern "C" __declspec(dllimport)

#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...

Enumerations
enum	WALABOT_RESULT_ENUM { WALABOT_SUCCESS, WALABOT_ERR_INVALID_PORT_DEFINITION, WALABOT_ERR_TOO_MANY_SAMPLES, WALABOT_ERR_RECORDING_THREAD_ALREADY_RUNNING, WALABOT_ERR_RECORDING_WITHOUT_APPLY_SETTINGS, WALABOT_ERR_READ_WITHOUT_APPLY_SETTINGS, WALABOT_ERR_INVALID_PAGE_INDEX, WALABOT_ERR_INVALID_TXRX_PAIR, WALABOT_ERR_AMBIGUOUS_TXRX_PAIR, WALABOT_ERR_PORTGROUP_INDEX_OUT_OF_BOUNDS, WALABOT_ERR_RX_PORT_OUT_OF_BOUNDS, WALABOT_ERR_NO_DATA, WALABOT_ERR_USB_READ_FAILURE, WALABOT_PARAMETER_NOT_FOUND, WALABOT_OUT_OF_RANGE, WALABOT_READONLY_PARAMETER, WALABOT_ERR_ARENA_SIZE_TOO_BIG, WALABOT_DD_ERR_USB_DEVICE_WENT_DOWN, WALABOT_ERR_INVALID_PARAMETER, WALABOT_INSTRUMENT_NOT_FOUND, WALABOT_BUFFER_TOO_SMALL, WALABOT_INVALID_ARRAY_SIZE, WALABOT_INVALID_PROFILE, WALABOT_ERR_NO_IMAGE, WALABOT_ERR_GENERAL, WALABOT_ERR_PROTOCOL = 0x00010000, WALABOT_ERR_DEVICE_STORAGE = 0x00020000, WALABOT_ERR_DB = 0x00030000, WALABOT_ERR_USB = 0x00040000, WALABOT_ERR_SEQ = 0x00050000, WALABOT_ERR_SCHEDULER = 0x00070000, WALABOT_ERR_HW_PLAN = 0x00080000, WALABOT_ERR_MULTI_CHIP = 0x00090000, WALABOT_ERR_REC_PLAN = 0x000A0000, WALABOT_ERR_NULL_OBJECT = 0x000B0000, WALABOT_ERR_IN_COMPILER = 0x000C0000, WALABOT_ERR_IN_INITIALIZATION = 0x000D0000, WALABOT_ERR_SETTING_FOLDER = 0x000E0000, WALABOT_ERR_LOG = 0x000F0000, WALABOT_GENERAL_ERROR }

enum	APP_PROFILE { PROF_SHORT_RANGE_IMAGING = 0x00010000, PROF_SHORT_RANGE_SINGLE_LINE, PROF_SENSOR = 0x00020000, PROF_SENSOR_NARROW }
	< Scan profile for Walabot_SetProfile(); see Imaging Features More...

enum	APP_STATUS { STATUS_DISCONNECTED, STATUS_CONNECTED, STATUS_IDLE, STATUS_SCANNING, STATUS_CALIBRATING }
	< Walabot status returned by Walabot_GetStatus() More...

enum	TARGET_TYPE { TARGET_TYPE_UNKNOWN, TARGET_TYPE_PIPE }

enum	FILTER_TYPE { FILTER_TYPE_NONE, FILTER_TYPE_DERIVATIVE, FILTER_TYPE_MTI }
	< Dynamic-imaging filter algorithm for Walabot_SetDynamicImageFilter() More...

Functions
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 image data from specified antennas. 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_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

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

Walabot internal pipe sensor detection percentage. Read only parameter.

Definition at line 1291 of file WalabotAPI.h.

#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 1285 of file WalabotAPI.h.

#define WALABOT_API extern "C" __declspec(dllimport)

Definition at line 742 of file WalabotAPI.h.

Typedef Documentation

typedef struct AntennaPair_struct AntennaPair

Antenna pair for Walabot_GetAntennaPairs()

typedef struct ImagingTarget_struct ImagingTarget

< Imaging Tagret parameters

typedef struct SensorTarget_struct SensorTarget

< Sensor Tagret parameters

typedef struct vcomplex_struct vcomplex

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

typedef enum WALABOT_RESULT_ENUM WALABOT_RESULT

Enumeration Type Documentation

enum APP_PROFILE

< Scan profile for Walabot_SetProfile(); see Imaging Features

Enumerator
PROF_SHORT_RANGE_IMAGING	Short-range, penetrative scanning in dielectric materials.
PROF_SHORT_RANGE_SINGLE_LINE	Short-range, small number of antennas pairs.
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.

Definition at line 690 of file WalabotAPI.h.

enum APP_STATUS

< Walabot status returned by Walabot_GetStatus()

Enumerator
STATUS_DISCONNECTED	No communication with Walabot.
STATUS_CONNECTED	Communication established with Walabot, but no Profile set.
STATUS_IDLE	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.

Definition at line 699 of file WalabotAPI.h.

enum 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 714 of file WalabotAPI.h.

enum TARGET_TYPE

Enumerator
TARGET_TYPE_UNKNOWN
TARGET_TYPE_PIPE

Definition at line 708 of file WalabotAPI.h.

enum WALABOT_RESULT_ENUM

Enumerator
WALABOT_SUCCESS	Operation successful.
WALABOT_ERR_INVALID_PORT_DEFINITION	Invalid antenna number.
WALABOT_ERR_TOO_MANY_SAMPLES	General Walabot error.
WALABOT_ERR_RECORDING_THREAD_ALREADY_RUNNING	Application already running.
WALABOT_ERR_RECORDING_WITHOUT_APPLY_SETTINGS	Walabot_Start() was not called.
WALABOT_ERR_READ_WITHOUT_APPLY_SETTINGS	Walabot_Start() was not called.
WALABOT_ERR_INVALID_PAGE_INDEX	General Walabot error.
WALABOT_ERR_INVALID_TXRX_PAIR	{Tx,Rx} Antenna pair error
WALABOT_ERR_AMBIGUOUS_TXRX_PAIR	The requested tx-rx pair is ambiguous (recorded in more than one port group)
WALABOT_ERR_PORTGROUP_INDEX_OUT_OF_BOUNDS	General Walabot error.
WALABOT_ERR_RX_PORT_OUT_OF_BOUNDS	Rx antenna invalid.
WALABOT_ERR_NO_DATA	No data returned for specified request.
WALABOT_ERR_USB_READ_FAILURE	Walabot device disconnected.
WALABOT_PARAMETER_NOT_FOUND	Invalid input parameter.
WALABOT_OUT_OF_RANGE	A provided parameter value was out of its allowed range.
WALABOT_READONLY_PARAMETER	General Walabot error.
WALABOT_ERR_ARENA_SIZE_TOO_BIG	Error in arena resize parameters.
WALABOT_DD_ERR_USB_DEVICE_WENT_DOWN	Walabot device USB error.
WALABOT_ERR_INVALID_PARAMETER	A provided parameter value was out of its allowed range.
WALABOT_INSTRUMENT_NOT_FOUND	The SDK is unable to communicate with the instrument.
WALABOT_BUFFER_TOO_SMALL	Provided buffer is too small.
WALABOT_INVALID_ARRAY_SIZE	Provided buffer is too small.
WALABOT_INVALID_PROFILE	Invalid Profile type.
WALABOT_ERR_NO_IMAGE	No image has been recored by the Walabot.
WALABOT_ERR_GENERAL	General Walabot error.
WALABOT_ERR_PROTOCOL	Internal Error.
WALABOT_ERR_DEVICE_STORAGE	Unable to write to device storge.
WALABOT_ERR_DB	Unable to access Database.
WALABOT_ERR_USB	USB.
WALABOT_ERR_SEQ
WALABOT_ERR_SCHEDULER	Data recording fetch.
WALABOT_ERR_HW_PLAN	Error in recoding schema.
WALABOT_ERR_MULTI_CHIP	Error in multi Walabot configuration setup.
WALABOT_ERR_REC_PLAN	Error in recoding schema.
WALABOT_ERR_NULL_OBJECT	Non initlizated object.
WALABOT_ERR_IN_COMPILER	Error during building recording profile schema.
WALABOT_ERR_IN_INITIALIZATION	Error during initilization process.
WALABOT_ERR_SETTING_FOLDER	Didn't find setting folder. Use Walabot_SetSettingsFolder(...) to fix it.
WALABOT_ERR_LOG	Error during internal logging.
WALABOT_GENERAL_ERROR	A general error occurred. Inspect the error logs for more information.

Definition at line 630 of file WalabotAPI.h.

Function Documentation

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_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] uid Walabot device ID obtained from Walabot_GetInstrumentsList()

Returns: WALABOT_RESULT

See also: 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_RESULT Walabot_Disconnect ( )

Stops communication with Walabot.

Returns: WALABOT_RESULT

See also: Walabot_Connect
Walabot_Disconnect

WALABOT_RESULT Walabot_GetAdvancedParameter	(	char *	paramName,
		double *	value
	)

Obtains current Walabot advnaced parameter value.

Function returns Walabot advance parameter.

Parameters

[in]	paramName	advance parameter name, can be one of the following: PARAM_CONFIDENCE_FACTOR , PARAM_DIELECTRIC_CONSTANT
[out]	value	paramName current value

Returns: WALABOT_RESULT

See also: Walabot_SetAdvancedParameter

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

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]	antennaPairs	List of antenna pairs
[out]	numPairs	The number of antenna pairs in the list

Returns: WALABOT_RESULT

See also: Walabot_GetSignal

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]	min	Beginning of azimuth angular range (degrees)
[in]	max	End of azimuth angular range (degrees)
[in]	res	Angle between pixels across polar angle (degrees)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaPhi

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]	start	Beginning of radial distance range (cm)
[out]	end	End of radial distance range (cm)
[out]	res	Image resolution along radius (cm)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaR

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]	min	Beginning of polar angular range (degrees)
[in]	max	End of polar angular range (degrees)
[in]	res	Angle between pixels across polar angle (degrees)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaTheta

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]	min	Beginning of range on axis (cm)
[out]	max	End of range on axis (cm)
[out]	res	Distance between pixels along axis (cm)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaX

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]	min	Beginning of range on axis (cm)
[out]	max	End of range on axis (cm)
[out]	res	Distance between pixels along axis (cm)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaY

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]	start	Beginning of range on axis (cm)
[out]	end	End of range on axis (cm)
[out]	res	Distance between pixels along axis (cm)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaZ

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] type Dynamic-imaging filter current setting.

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_GetDynamicImageFilter

const char* Walabot_GetErrorString ( )

Obtains the detailed string of the last error.

Returns: ::const char*

int Walabot_GetExtendedError ( )

Obtains more error information for Vayyar support.

Returns: WALABOT_RESULT

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] energy Number 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_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]	targets	List of identified targets (in current API version, a single target)
[out]	numTargets	Number of identified targets (in current API version, 1)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow Walabot_Trigger
Walabot_GetSensorTargets

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]	bufMaxSize	Available size of the provided memory buffer
[in]	outputBuffer	Location of the provided memory buffer

Returns: WALABOT_RESULT

See also: Code Implementation Flow
Walabot_Connect

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]	rasterImage	Name of array variable populated by output image data
[out]	sizeX	Dimension of array variable populated by output image data
[out]	sizeY	Dimension of array variable populated by output image data
[out]	sizeZ	Dimension of array variable populated by output image data
[out]	power	Peak measured power in arena (value of strongest pixel)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow Walabot_Trigger
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]	rasterImage	Name of array variable populated by output image data
[out]	sizeX	Dimension of array variable populated by output image data
[out]	sizeY	Dimension of array variable populated by output image data
[out]	sliceDepth	third dimension coordinate of maximum target power
[out]	power	Peak measured power in arena (value of strongest pixel)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow Walabot_Trigger
Walabot_GetRawImage

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]	targets	List of identified targets
[out]	numTargets	Number of identified targets

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow Walabot_Trigger
Walabot_GetImagingTargets

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

Obtains raw image data from specified antennas.

Parameters

[in]	txAntenna	Transmitting antenna ID as obtained from Walabot_GetAntennaPairs()
[in]	rxAntenna	Receiving antenna ID as obtained from Walabot_GetAntennaPairs()
[out]	signal	List of amplitude values representing received signal amplitude in time domain
[out]	timeAxis	time axis ticks values
[out]	numSamples	Number of sample in the list

Returns: WALABOT_RESULT

See also: Walabot_GetAntennaPairs

WALABOT_RESULT Walabot_GetStatus	(	APP_STATUS *	status,
		double *	param
	)

Obtains Walabot status.

For an explanation of possible statuses, see APP_STATUS.

Parameters

[out]	status	Walabot's status
[out]	param	Percentage of calibration completed, if status is STATUS_CALIBRATING

Returns: WALABOT_RESULT

See also: Code Implementation Flow

WALABOT_RESULT Walabot_GetThreshold ( double * threshold )

Obtains the current sensitivity threshold.

To set the threshold, use Walabot_SetThreshold().

Parameters

[out] threshold The current threshold value

Returns: WALABOT_RESULT

See also: Code Implementation Flow

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] version pointer to array of char with the version

Returns: WALABOT_RESULT

See also: Walabot_Connect
Walabot_ConnectAny

WALABOT_RESULT Walabot_SetAdvancedParameter	(	char *	paramName,
		double	value
	)

Set advanced Walabot parameter.

Parameters

[in]	paramName	type Filter algorithm to use PARAM_DIELECTRIC_CONSTANT
[in]	value	advance parameter set value

Returns: WALABOT_RESULT

See also: Walabot_GetDynamicImageFilter

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]	min	Beginning of azimuth angular range (degrees)
[in]	max	End of azimuth angular range (degrees)
[in]	res	Angle between pixels across polar angle (degrees)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaR
Walabot_SetArenaTheta

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]	start	Beginning of radial distance range (cm)
[in]	end	End of radial distance range (cm)
[in]	res	Distance between pixels along radius (cm)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaTheta
Walabot_SetArenaPhi

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]	min	start Beginning of polar angular range (degrees)
[in]	max	end End of polar angular range (degrees)
[in]	res	Angle between pixels across polar angle (degrees)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaR
Walabot_SetArenaPhi

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]	min	Beginning of range on axis (cm)
[in]	max	End of range on axis (cm)
[in]	res	Distance between pixels along axis (cm)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaY
Walabot_SetArenaZ

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]	min	Beginning of range on axis (cm)
[in]	max	End of range on axis (cm)
[in]	res	Distance between pixels along axis (cm)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaX
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]	start	Beginning of range on axis (cm)
[in]	end	End of range on axis (cm)
[in]	res	Distance between pixels along axis (cm)

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_SetArenaX
Walabot_SetArenaY

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] type Filter algorithm to use

Returns: WALABOT_RESULT

See also: Imaging Features
Code Implementation Flow
Walabot_GetDynamicImageFilter

WALABOT_RESULT Walabot_SetProfile ( APP_PROFILE profile )

Sets scan profile.

For an explanation of available profiles, see Imaging Features.

Parameters

[in] profile The scan profile to use

Returns: WALABOT_RESULT

See also: Code Implementation Flow

WALABOT_RESULT Walabot_SetSettingsFolder ( char * folder )

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

Parameters

[in] folder Database location

Returns: WALABOT_RESULT

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.
To check the current value, use Walabot_GetThreshold().

Parameters

[in] value The threshold to set

Returns: WALABOT_RESULT

See also: Code Implementation Flow

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_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().