#include "Behaviors/StateMachine.h"

$nodeclass DepthMap : VisualRoutinesStateNode {

	$nodeclass FindEdges : VisualRoutinesStateNode : doStart {
		int threshold = 100;
		
		camSkS.requireIdx4way();
	
		NEW_SKETCH(depthFrame, usint, sketchFromDepth());

		NEW_SKETCH(south, uchar, depthFrame - depthFrame[*camSkS.idxS] > threshold);
		NEW_SKETCH(result, uchar, visops::susan_edges(south, 1));

	}

	$setupmachine {
		FindEdges
	}

}

REGISTER_BEHAVIOR(DepthMap);