Integrating OpenCV with Tekkotsu

Ilya Matiach

15-494: Cognitive Robotics

Problem

Integrating openCV vision libraries presented unique challenges. Conceptually, openCV and tekkotsu have different visual representations. Tekkotsu has a dual-coding framework where objects are represented as both shapes and sketches. OpenCV only applies visual routines to images.

 I ran into several problems:

I couldn't install openCV on the tekkotsu robot because it did not have a GUI x11 interface, hence I had to link the libraries manually.

Since I didn't want to ruin the configuration of the lab machines by installing openCV, I had to install tekkotsu and openCV on my laptop.  However, I had a 64 bit operating system, while the Chiara ran on a 32 bit machine.  This led to several problems with linking libraries.  Although ubuntu 64 bit does have 32 bit libraries, I still ran into many problems.  Eventually I installed a 32 bit version of ubuntu, which fixed the problem.