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.