write image with opencv

simcontroller/Cargo.lock

@@ -11,6 +11,12 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "autocfg"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
+
 [[package]]
 name = "bindgen"
 version = "0.63.0"
@@ -45,6 +51,17 @@ version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
 
+[[package]]
+name = "cc"
+version = "1.1.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b62ac837cdb5cb22e10a256099b4fc502b1dfe560cb282963a974d7abd80e476"
+dependencies = [
+ "jobserver",
+ "libc",
+ "shlex",
+]
+
 [[package]]
 name = "cexpr"
 version = "0.6.0"
@@ -60,6 +77,16 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
+name = "clang"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "84c044c781163c001b913cd018fc95a628c50d0d2dfea8bca77dad71edb16e37"
+dependencies = [
+ "clang-sys",
+ "libc",
+]
+
 [[package]]
 name = "clang-sys"
 version = "1.8.1"
@@ -71,6 +98,12 @@ dependencies = [
  "libloading",
 ]
 
+[[package]]
+name = "dunce"
+version = "1.0.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "92773504d58c093f6de2459af4af33faa518c13451eb8f2b5698ed3d36e7c813"
+
 [[package]]
 name = "either"
 version = "1.13.0"
@@ -102,6 +135,15 @@ dependencies = [
  "windows-sys",
 ]
 
+[[package]]
+name = "jobserver"
+version = "0.1.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "48d1dbcbbeb6a7fec7e059840aa538bd62aaccf972c7346c4d9d2059312853d0"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "lazy_static"
 version = "1.5.0"
@@ -164,18 +206,73 @@ dependencies = [
  "minimal-lexical",
 ]
 
+[[package]]
+name = "num-traits"
+version = "0.2.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "once_cell"
 version = "1.19.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
 
+[[package]]
+name = "opencv"
+version = "0.92.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c01f7646f18911737aa3d721dec4a0060d044ef1224eb54a439ae6fa716ccb86"
+dependencies = [
+ "cc",
+ "dunce",
+ "jobserver",
+ "libc",
+ "num-traits",
+ "once_cell",
+ "opencv-binding-generator",
+ "pkg-config",
+ "semver",
+ "shlex",
+ "vcpkg",
+ "windows",
+]
+
+[[package]]
+name = "opencv-binding-generator"
+version = "0.90.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c238fe1b9e78bf939dfab14184464a25acaf42d634fd502dc9ccc445f5bad1b9"
+dependencies = [
+ "clang",
+ "clang-sys",
+ "dunce",
+ "once_cell",
+ "percent-encoding",
+ "regex",
+]
+
 [[package]]
 name = "peeking_take_while"
 version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099"
 
+[[package]]
+name = "percent-encoding"
+version = "2.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
+
+[[package]]
+name = "pkg-config"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d231b230927b5e4ad203db57bbcbee2802f6bce620b1e4a9024a07d94e2907ec"
+
 [[package]]
 name = "proc-macro2"
 version = "1.0.86"
@@ -242,6 +339,12 @@ dependencies = [
  "windows-sys",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
+
 [[package]]
 name = "shlex"
 version = "1.3.0"
@@ -252,6 +355,7 @@ checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
 name = "simcontroller"
 version = "0.1.0"
 dependencies = [
+ "opencv",
  "thiserror",
  "webots",
 ]
@@ -304,6 +408,12 @@ version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
+[[package]]
+name = "vcpkg"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "accd4ea62f7bb7a82fe23066fb0957d48ef677f6eeb8215f372f52e48bb32426"
+
 [[package]]
 name = "webots"
 version = "0.1.0"
@@ -324,6 +434,70 @@ dependencies = [
  "rustix",
 ]
 
+[[package]]
+name = "windows"
+version = "0.58.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dd04d41d93c4992d421894c18c8b43496aa748dd4c081bac0dc93eb0489272b6"
+dependencies = [
+ "windows-core",
+ "windows-targets",
+]
+
+[[package]]
+name = "windows-core"
+version = "0.58.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ba6d44ec8c2591c134257ce647b7ea6b20335bf6379a27dac5f1641fcf59f99"
+dependencies = [
+ "windows-implement",
+ "windows-interface",
+ "windows-result",
+ "windows-strings",
+ "windows-targets",
+]
+
+[[package]]
+name = "windows-implement"
+version = "0.58.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2bbd5b46c938e506ecbce286b6628a02171d56153ba733b6c741fc627ec9579b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.77",
+]
+
+[[package]]
+name = "windows-interface"
+version = "0.58.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "053c4c462dc91d3b1504c6fe5a726dd15e216ba718e84a0e46a88fbe5ded3515"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.77",
+]
+
+[[package]]
+name = "windows-result"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d1043d8214f791817bab27572aaa8af63732e11bf84aa21a45a78d6c317ae0e"
+dependencies = [
+ "windows-targets",
+]
+
+[[package]]
+name = "windows-strings"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4cd9b125c486025df0eabcb585e62173c6c9eddcec5d117d3b6e8c30e2ee4d10"
+dependencies = [
+ "windows-result",
+ "windows-targets",
+]
+
 [[package]]
 name = "windows-sys"
 version = "0.52.0"

simcontroller/Cargo.toml

@@ -4,5 +4,6 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
+opencv = {version = "0.92.3", features = ["clang-runtime"]}
 thiserror = "1.0.63"
 webots = { git = "https://github.com/katharostech/webots-rust" }

simcontroller/src/main.rs

@@ -1,4 +1,5 @@
 use camera::Camera;
+use opencv::{core::{VecN, CV_8UC4}, imgcodecs::ImreadModes, imgproc};
 use webots::prelude::*;
 use std::{f64::consts::TAU, time::Duration};
 mod camera;
@@ -39,6 +40,12 @@ impl Robot for MyRobot {
 
         self.camera.enable(20);
 
+        if let Ok(img) = self.camera.get_image() { // BGRA
+            let img = opencv::core::Mat::new_rows_cols_with_bytes::<VecN<u8,4>>(240, 320, &img).unwrap();
+
+            opencv::imgcodecs::imwrite_def("cam.png", &img).unwrap();
+        }
+
         // initialize motor speeds at 50% of MAX_SPEED.
         let mut left_speed = 0.5 * MAX_SPEED;
         let mut right_speed = 0.5 * MAX_SPEED;