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Thanks Kevin, I was able to fetch the code and will try it out this week and post a reply. Very excited to try it out. I was getting reasonably adept at OpenCV prior to ROS days, but still have much to learn about bridging the two, even beyond the tutorials on the ROS site, and being able to learn from some examples would really be great.

Question for Tully or the other site Admin's if they see this... When people correspond on this site and they want to share code, is there a common location or way to do that? Thanks, -Scott