--Have live video in viewer (changed name from 'dsci' to 'rover-viewer').  Image refresh is bound to ESC key, and I send an XEvent after each image received to refresh the window.  Originally had a problem with XEvents only going to the window that the mouse was pointing to, but solved that by designating window for XSendEvent by name.
--Enroute to live video, had several problems with crashes/hangs when the ESC key was held down (fast refresh).  Solved this issue by adding a lock around the integer that keeps track of which image is the most recent in the image receive buffer.
--Next step is to work on camera code on rover to 1) make it run in an infinite loop, 2) be callable from the command line in order to put a button into rover-viewer to start the cameras, and 3) handle a KILL/TERM/?? signal in order to exit gracefully from the infinite loop when signalled from 'stop cameras' button in rover-viewer.