WAIInterface.cpp File Reference

#include <WAI.h>
#include <WAIMath.h>

Include dependency graph for WAIInterface.cpp:

Go to the source code of this file.

Classes
struct	WAIMapPointCoordinate

Functions
static WAI::WAI	wai ("")
WAI_API void	wai_setDataRoot (const char *dataRoot)
WAI_API void	wai_setMode (WAI::ModeType modeType)
WAI_API void	wai_getMapPoints (WAIMapPointCoordinate **mapPointCoordinatePtr, int *mapPointCount)
WAI_API void	wai_releaseMapPoints (WAIMapPointCoordinate **mapPointCoordinatePtr)
WAI_API void	wai_activateSensor (WAI::SensorType sensorType, void *sensorInfo)
WAI_API void	wai_updateCamera (WAI::CameraFrame *frameRGB, WAI::CameraFrame *frameGray)
WAI_API bool	wai_whereAmI (WAI::M4x4 *pose)
WAI_API int	wai_getState (char *buffer, int size)
WAI_API void	wai_registerDebugCallback (DebugLogCallback callback)

Variables
static WAI::ModeOrbSlam2 *	mode = nullptr

Function Documentation

wai()

static WAI::WAI wai ( ""  )

static

wai_activateSensor()

WAI_API void wai_activateSensor	(	WAI::SensorType	sensorType,
		void *	sensorInfo
	)

Definition at line 63 of file WAIInterface.cpp.

{
    WAI_LOG("activateSensor called");
    wai.activateSensor(sensorType, sensorInfo);
}

wai_getMapPoints()

WAI_API void wai_getMapPoints	(	WAIMapPointCoordinate **	mapPointCoordinatePtr,
		int *	mapPointCount
	)

Definition at line 25 of file WAIInterface.cpp.

{
    if (!mode)
    {
        WAI_LOG("mode not set. Call wai_setMode first.");
        return;
    }
 
    std::vector<WAIMapPoint*> mapPoints       = mode->getMapPoints();
    *mapPointCoordinatePtr                    = (WAIMapPointCoordinate*)malloc(mapPoints.size() * sizeof(WAIMapPointCoordinate));
    WAIMapPointCoordinate* mapPointCoordinate = *mapPointCoordinatePtr;
 
    int count = 0;
 
    for (WAIMapPoint* mapPoint : mapPoints)
    {
        if (!mapPoint->isBad())
        {
            *mapPointCoordinate = {
              mapPoint->worldPosVec().x,
              mapPoint->worldPosVec().y,
              mapPoint->worldPosVec().z,
            };
 
            mapPointCoordinate++;
            count++;
        }
    }
 
    *mapPointCount = count;
}

wai_getState()

WAI_API int wai_getState	(	char *	buffer,
		int	size
	)

Definition at line 111 of file WAIInterface.cpp.

{
    WAI_LOG("getState called");
    int result = 0;
 
    if (mode)
    {
        std::string state = mode->getPrintableState();
 
        if ((state.size() + 1) < size)
        {
            size = state.size() + 1;
        }
 
        result        = size;
        char*       c = buffer;
        const char* s = state.c_str();
 
        strncpy(c, s, size);
    }
 
    return result;
}

wai_registerDebugCallback()

WAI_API void wai_registerDebugCallback

(

DebugLogCallback

callback

)

Definition at line 135 of file WAIInterface.cpp.

{
    registerDebugCallback(callback);
}

wai_releaseMapPoints()

WAI_API void wai_releaseMapPoints

(

WAIMapPointCoordinate **

mapPointCoordinatePtr

)

Definition at line 58 of file WAIInterface.cpp.

{
    delete *mapPointCoordinatePtr;
}

wai_setDataRoot()

WAI_API void wai_setDataRoot

(

const char *

dataRoot

)

Definition at line 13 of file WAIInterface.cpp.

{
    WAI_LOG("dataroot set to %s", dataRoot);
    wai.setDataRoot(dataRoot);
}

wai_setMode()

WAI_API void wai_setMode

(

WAI::ModeType

modeType

)

Definition at line 19 of file WAIInterface.cpp.

{
    WAI_LOG("setMode called");
    mode = (WAI::ModeOrbSlam2*)wai.setMode(modeType);
}

wai_updateCamera()

WAI_API void wai_updateCamera	(	WAI::CameraFrame *	frameRGB,
		WAI::CameraFrame *	frameGray
	)

Definition at line 69 of file WAIInterface.cpp.

{
    WAI_LOG("updateCamera called");
    cv::Mat cvFrameRGB  = cv::Mat(frameRGB->height,
                                 frameRGB->width,
                                 CV_8UC3,
                                 frameRGB->memory,
                                 frameRGB->pitch);
    cv::Mat cvFrameGray = cv::Mat(frameGray->height,
                                  frameGray->width,
                                  CV_8UC1,
                                  frameGray->memory,
                                  frameGray->pitch);
 
    WAI::CameraData sensorData = {&cvFrameGray, &cvFrameRGB};
 
    wai.updateSensor(WAI::SensorType_Camera, &sensorData);
}

wai_whereAmI()

WAI_API bool wai_whereAmI

(

WAI::M4x4 *

pose

)

Definition at line 88 of file WAIInterface.cpp.

{
    WAI_LOG("whereAmI called");
    bool result = 0;
 
    cv::Mat cvPose = cv::Mat(4, 4, CV_32F);
    result         = wai.whereAmI(&cvPose);
 
    if (result)
    {
        WAI_LOG("WAI knows where I am");
        for (int y = 0; y < 4; y++)
        {
            for (int x = 0; x < 4; x++)
            {
                pose->e[x][y] = cvPose.at<float>(x, y);
            }
        }
    }
 
    return result;
}

Variable Documentation

mode

WAI::ModeOrbSlam2* mode = nullptr

static

Definition at line 5 of file WAIInterface.cpp.