diff --git a/simcontroller/src/main.rs b/simcontroller/src/main.rs
index 86fc275..a2b5791 100644
--- a/simcontroller/src/main.rs
+++ b/simcontroller/src/main.rs
@@ -1,5 +1,5 @@
 use camera::Camera;
-use opencv::{core::{VecN, CV_8UC4}, highgui, imgcodecs::ImreadModes, imgproc};
+use opencv::{core::{Ptr, VecN, CV_8UC4}, features2d::ORB, highgui, imgcodecs::ImreadModes, imgproc, prelude::Feature2DTrait};
 use webots::prelude::*;
 use std::{f64::consts::TAU, time::Duration};
 mod camera;
@@ -12,6 +12,7 @@ struct MyRobot {
     left_motor: Motor,
     right_motor: Motor,
     window: &'static str,
+    orb_detector: Ptr<ORB>,
 }
 
 impl Robot for MyRobot {
@@ -33,11 +34,14 @@ impl Robot for MyRobot {
         let window = "processed";
         //highgui::named_window(window, 1).unwrap();
 
+        let orb_detector = ORB::create_def().unwrap();
+
         Self {
             camera,
             left_motor,
             right_motor,
             window,
+            orb_detector,
         }
     }
 
@@ -49,7 +53,15 @@ impl Robot for MyRobot {
             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();
-            highgui::imshow(self.window, &img).unwrap();
+            //highgui::imshow(self.window, &img).unwrap();
+
+            let mask = opencv::core::Mat::default();
+            let mut debugout = opencv::core::Mat::default();
+            let mut keypoints = opencv::core::Vector::default();
+            let mut descriptors = opencv::core::Mat::default();
+            self.orb_detector.detect_and_compute_def(&img, &mask, &mut keypoints, &mut descriptors).unwrap();
+            opencv::features2d::draw_keypoints(&img, &keypoints, &mut debugout, opencv::core::VecN([0.,255.,255.,255.]), opencv::features2d::DrawMatchesFlags::DEFAULT).unwrap();
+            highgui::imshow("keypoints", &debugout).unwrap();
             highgui::poll_key().unwrap();
         }