vmon   - Visualizer for URG-X Series        Version 2005/01/02

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Source Composition and License

 glt:
      GLT OpenGL C++ toolkit (http://www.nigels.com/glt/)
      LGPL

 freeglut-2.2.0:
      The Free OpenGL Utility Toolkit (http://freeglut.sourceforge.net/)
      X-Consortium license.

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Startup Technique

Run the vmon.exe file. There are no command lines.
Select the communication port from the popup menu.
Linux version has the following options;
	/dev/ttyS0
	/dev/ttyS1
	/dev/usb/tts/0
	/dev/usb/tts/1
Windows version has the options from COM1 to COM 16.
To open the ports other than these enter the port number on the windows
Environment Variable(URG_PORT or RSX_PORT).This port will be added in the option.
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Option Keys

	"q", "ESC"	: Close
	
	"r"			: Reset view
	
	",", "."	: Rotate view 45 degrees

	"a", "z"	: Rotate view 10 degrees in Y-axis

	"x", "c"	: Rotate view 10 degrees in X-axis

	"g", "b"	: Move view up-down

	"n", "m"	: Move view left-right

	"TAB"		: Switch to full screen and window mode

	"f"			: Reverse the view clockwise/anti-clockwise

	"1"-"5"		: Color Change

	"p"			: Pause/Resume

	"o"			: Reduce past data by 1 (Default past data is 10)
	
	"i"			: Increase past data by 1 (Max. 30)

	"u"			: Set past data to 10

	"s"			: Save 	 
					Folder is created in the current directory.
					Name of the folder is the time of the data
					taken (year_month_date_hrs_min_sec)
					Ex. "2005_01_03_17_35_29000". 
					Folder contains 10 csv files with the similar names.
					Data in the csv file shows "Data Step Number", 
					"Direction in Radians.", "Distance from X-axis" and 
					"Distance from Y-axis" respectively.
	
	"l"			: Laser on/off

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Mouse Control

	Left Click+Drag			: Rotate View

	Center Click+Drag		: Move View

	Right Click				: Popup Menu

	Roll Mouse Wheel		: Zoom up/down

	Shift+LeftClick+Drag	: Zoom up/down
 

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Popup Menu

	SensorParmeters		: Send Sensor Control Command

	-Reset				: Reset

	-Toggle Laser		: Laser on/off (Same as "l" key)

	-point Cluster	
	 -1Pt				: Obtain all step data
	 -2Pt				: Obtain one among the two adjacent data with smaller value
	 -3Pt				: Obtain one among the three adjacent data with smaller value
	 -4Pt				: Obtain one among the four adjacent data with smaller value

	Reset speed to...	:    Set/change communication speed
						  500000 bps may not be supported by all linux versions.
						  Communication will be cut off if the speed is not
						  supported by the OS.
	 
	*ViewControl
	 -Puse/Resume		: Pause/Resume sensor access (Same as "p" key)
	
	 -Reset view		: View settings will be changed to default settings except
				 		 for the changes done by the "f" key.

	*DisplayOpenGL Setting
	 -Enable Alpha Blending		: Make past data transparent

	 -Disable Alpha Blending	: Do not make past data transparent

	 -Set view update rate to	: Change the display frequency to 5, 10, 30 
					 			 and 50 times/sec
	
	Quit						: Quit application (same as "q" key)

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Tips

 *Slow display
	  *  If the video card does not support the OpenGL hardware there are 
	   chances of display getting slow. Disable Alpha Blending and reduce
	   the Past Data Count.
	  *  If the problem still exists, reduce the window size. Also decrease 
	   the view update rate.
 
 *Communication is Slow
	  *  If USB device is used the full step data of 10 scans can be obtained.
	  *  If linux supports 500Kbps all these data can be accessed.
	  *  If the speed is 115Kbps select the Point Cluster settings to 2Pt to 
	   access data for 10 scans.
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