ank/cruisecontrol
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orb feature detection

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This commit is contained in:
Andy Killorin 2024-09-09 11:19:13 -04:00
parent 03beac2e16
commit bc4c69e17e
Signed by: ank
GPG key ID: B6241CA3B552BCA4
1 changed files with 14 additions and 2 deletions
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16
simcontroller/src/main.rs
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@ -1,5 +1,5 @@
use camera::Camera; 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 webots::prelude::*;
use std::{f64::consts::TAU, time::Duration}; use std::{f64::consts::TAU, time::Duration};
mod camera; mod camera;
@ -12,6 +12,7 @@ struct MyRobot {
left_motor: Motor, left_motor: Motor,
right_motor: Motor, right_motor: Motor,
window: &'static str, window: &'static str,
orb_detector: Ptr<ORB>,
} }
impl Robot for MyRobot { impl Robot for MyRobot {
@ -33,11 +34,14 @@ impl Robot for MyRobot {
let window = "processed"; let window = "processed";
//highgui::named_window(window, 1).unwrap(); //highgui::named_window(window, 1).unwrap();
let orb_detector = ORB::create_def().unwrap();
Self { Self {
camera, camera,
left_motor, left_motor,
right_motor, right_motor,
window, 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(); 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(); //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(); highgui::poll_key().unwrap();
} }