Installation primarily consists of the Vision System build and the
Communication System build.

The Makefile needs to be configured appropriately for a particular
environment as well as for the desired options. (For example, Matlab support
may not be desired)

Matlab Configuration:
---------------------
    If a Matlab interface is desired to either the vision server or the 
communications server, the Matlab mex compiler must be configured
Consult Matlab documentation for further details. Depending on the 
versions of both Matlab and Linux, it may be necessary to 
download the lib5 development environment from Mathworks. Refer to:
    http://www.mathworks.com/support/solutions/v5/11129.shtml

Modify src/comm_interface/mexopts.sh and src/vision_interface/mexopts.sh
to reflect the matlab/mex setup.

If Matlab support is NOT desired, remove all references to and 
.mexlx files from the Makefile    

Communication System:
---------------------
   1) Download, install, and test the Khepera Cross Compiler:

   2) Edit the Makefile to reflect the setup of the cross compiler and
      Khepack package
   

Vision System:
--------------
    1) Download, install, and test the XForms library:
           http://world.std.com/~xforms
    2) Be sure that the BTTV Driver is installed and working correctly.
       (It comes with most recent versions of Linux)
       You may need to download an application to test it:
           http://www.metzlerbros.de/bttv.html
       or
           http://sourceforge.net/project/?group_id=1328
    3) Edit the Makefile to reflect the directories of XForms 
    4) Be sure that X-Windows is in 24-bit color mode
       (capture program requires 24 bit color - consult the 
        X-Server documentation if in doubt)
    5) Determine whether the video card uses 4 bytes per pixel 
       or three bytes per pixel in 24-bit color and modify the 
       #define in src/capture/Frame.h appropriately
       (Note: if frames appear "interlaced" when displayed, this 
        is probably set incorrectly)

Windows:
--------
    The client functions in both C and Matlab for both the vision server 
and the communication server can be compiled on Windows machines. You may
need to add:
    #define WINDOWS 1
to the top of the files. Consult the compiler documentation for further 
info. (Note: you may also need to explicitly link against wsock32.lib)