#include "Behaviors/StateMachine.h"

//! SIFT test example from the YouTube video http://www.youtube.com/watch?v=2QVSTtjenCs
/*! First use SiftDemoTrain to train an object database.  Then point
 *  the camera at the object and run this SiftDemoTest behavior to
 *  look for the object in the camera image.  Use the sketchGUI viewer
 *  (click on the "C" in the ControllerGUI) to see the result.
 */

$nodeclass SiftDemoTest : VisualRoutinesStateNode {

  $nodeclass Looker : MapBuilderNode : doStart {
    mapreq.siftDatabasePath = "sift-demo.dat";
  }

  $nodeclass Display : VisualRoutinesStateNode : doStart {
    NEW_SHAPEVEC(siftobjects, SiftData, select_type<SiftData>(camShS));
    if ( siftobjects.size() > 0 )
      siftobjects[0]->displayMatchedFeatures();
  }

  virtual void setup() {
    $statemachine{
      Looker =MAP=> Display
    }
  }
}

REGISTER_BEHAVIOR_MENU(SiftDemoTest,DEFAULT_TK_MENU"/Vision Demos");