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Detects fiducial patterns (available in /vision/resources). Requires OpenCV to be installed. See http://opencv.willowgarage.com/wiki/InstallGuide%20%3A%20Debian for details on building OpenCV for Ubuntu/Debian. Those instructions are slightly out of date, so you'll have to change some of the package names to get them to install correctly. After running "make install" I also had to run "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" to get it to work, your mileage may vary. Compile this by running "make" Run "./vid_squares [camera number]" which optionally takes a video device number. There are 3 windows that open - a video window with robots overlayed, a thresholded/filtered video to see what video is being analyzed, and a control panel for setting things like the threshold brightness level or the tolerance for differences in side lengths (as a %).