1FVVIEWER(1) Fawkes Manual FVVIEWER(1)
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6 fvviewer - View FireVision images from various sources
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9 fvviewer [options] -s shmem_id
10 fvviewer [options] -n host[:port]/image_id
11 fvviewer [options] -f file
12 fvviewer [options] camera argument string
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15 Retrieve images via FireVision and display them in a X11 window.
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17 In the first form the image is read from a shared memory image segment
18 with the given shmem_id on the local host. The second form retrieves
19 the image via the network and FireVision Fountain connecting to the
20 given host (and optionally port) and reading the image for image_id.
21 The third format allows for reading an image from the given file.
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23 The last form is the most flexible as it allows you to pass in an
24 arbitrary camera argument string to open any camera supported by
25 FireVision.
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27 All forms share common options described below. Additionally there are
28 keys that can be pressed in the window to influence the behavior. By
29 default the viewer will start with continuous mode disabled, that means
30 that the user needs to press the space button to retrieve the next
31 image.
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34 -h
35 Show usage instructions.
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37 -c
38 Start in continuous mode.
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40 -s shmem_id
41 Open image from local shared memory segment with ID shmem_id.
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43 -n host[:port]]/image_id
44 Open image via the network. The argument defines the host and
45 optionally port to connect to, and the image_id to retrieve.
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47 -j
48 Retrieve images JPEG compressed (network retrieval only). This
49 conserves bandwidth but also lowers the image quality.
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51 -d delay
52 Delay in ms to wait before a new image is captured after the
53 previous one has been received. This is especially useful for
54 continuous local shared memory display.
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56 -f file
57 Read image from 'file.
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59 -o shmem_id
60 Write the incoming image into a local shared memory segment with
61 the given ID. This can be used for quickly relaying images for
62 debugging.
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64 -v
65 Verbose console output.
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68 c
69 Toggle continuous mode.
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71 r
72 Rectify image. Asks for a rectification info file and will show the
73 rectified image. The rectification is performed locally.
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75 +/-
76 Increase or decrease the delay by 5 ms respectively.
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78 Shift-R
79 Rectify image, but use the already loaded rectification file and do
80 not query again. Only useful after r has already been used, for
81 example to quickly toggle between the rectified and non-rectified
82 versions.
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84 Space
85 Refresh the image (in non-continuous mode).
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87 q/Esc
88 Quit the viewer.
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91 fvviewer -n myrobot/my_image
92 Read the image with the the ID my_image via the network from the
93 host myrobot.
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96 fawkes(8), fvnet(1), fvshmem(1)
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99 Written by Tim Niemueller <niemueller@kbsg.rwth-aachen.de>
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102 Documentation by Tim Niemueller <niemueller@kbsg.rwth-aachen.de>
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105 Part of the Fawkes Robot Software Framework. Project website is at
106 http://www.fawkesrobotics.org
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110Fawkes 1.2.0 08/20/2019 FVVIEWER(1)