#ifndef _DstBehavior_h_
#define _DstBehavior_h_

#include "DualCoding/DualCoding.h"
using namespace DualCoding;

class DstBehavior : public VisualRoutinesBehavior {
 public:
  DstBehavior() : VisualRoutinesBehavior("DstBehavior") {}

  void DoStart() {
    VisualRoutinesBehavior::DoStart();

    NEW_SKETCH(camFrame, uchar, sketchFromSeg());
    NEW_SHAPEVEC(blob_shapes, BlobData, BlobData::extractBlobs(camFrame,100));
  }

};

#endif

1. Compile and run DstBehavior, either on the simulator or on the AIBO. If you're using an AIBO, make sure the camera is pointing at some objects with recognizable colors. (You can call up the SegCam viewer to verify that the AIBO is segmenting the image correctly.) If you're using the simulator, you can use this test image:
   

2. While DstBehavior is running, launch the SketchGUI for camera space by clicking on the "C" button in the ControllerGUI.

3. In the SketchGUI menu, click on "camFrame" to select and display the camFrame sketch. The result should look like this:
   

4. Control-click (hold down the control key while clicking with the mouse) to deselect the camFrame sketch. Then turn on the "Select All Shapes" checkbox. The result should look like this:
   

5. To view the sketch and shapes at the same time, turn on the "Invert All Shapes" checkbox, and then re-select camFrame.