#include "Behaviors/StateMachine.h"

$nodeclass Lab5p4: VisualRoutinesStateNode : doStart {
  NEW_SKETCH(yuvFrame, yuv, sketchFromYUV());
  NEW_SKETCH(depthFrame, usint, sketchFromDepth());

  camSkS.requireIdx4way();

  NEW_SKETCH(diffFrame, usint, depthFrame-depthFrame[*camSkS.idxS]);
  NEW_SKETCH(edgeFrame_200, bool, diffFrame>200);
  NEW_SHAPEVEC(lines, LineData, LineData::extractLines(edgeFrame_200));
}

REGISTER_BEHAVIOR(Lab5p4);