#include "Behaviors/StateMachine.h"

//! SIFT training example from the YouTube video http://www.youtube.com/watch?v=2QVSTtjenCs
/*! Run this SiftDemoTrain behavior, point the camera at the object,
 *  and type "msg train" to the Tekkotsu command line to train on that
 *  image.  Repeat for multiple training images.  When done training,
 *  type "msg save" to save the SIFT database to a file.  Then run the
 *  SiftDemoTest behavior to test object recognition.
 */

$nodeclass SiftDemoTrain : VisualRoutinesStateNode {

  $nodeclass CreateDatabase : VisualRoutinesStateNode : doStart {
    mapBuilder->newSiftMatcher("sift-demo.dat");
  }

  $nodeclass TrainObject : VisualRoutinesStateNode : doStart {
    mapBuilder->trainSiftObject("sift-demo.dat", "juice-bottle");
  }

  $nodeclass SaveDatabase : VisualRoutinesStateNode : doStart {
    mapBuilder->saveSiftDatabase("sift-demo.dat");
  }

  virtual void setup() {
    $statemachine{
      CreateDatabase =N=> ask

      ask: SpeechNode($,"message.  train or save")
      ask =TM("train")=> train
      ask =TM("save")=> save

      train: TrainObject =N=> ask

      save: SaveDatabase =N=> SpeechNode("done")
    }
  }

}

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