diff --git a/y2023/vision/viewer.cc b/y2023/vision/viewer.cc
new file mode 100644
index 0000000..990ad7a
--- /dev/null
+++ b/y2023/vision/viewer.cc
@@ -0,0 +1,88 @@
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/time/time.h"
+#include "frc971/vision/vision_generated.h"
+
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+DEFINE_string(channel, "/camera", "Channel name for the image.");
+
+DEFINE_string(capture, "",
+              "If set, capture a single image and save it to this filename.");
+
+namespace frc971 {
+namespace vision {
+namespace {
+
+aos::Fetcher<CameraImage> image_fetcher;
+bool DisplayLoop() {
+  const CameraImage *image;
+
+  // Read next image
+  if (!image_fetcher.Fetch()) {
+    VLOG(2) << "Couldn't fetch next image";
+    return true;
+  }
+
+  image = image_fetcher.get();
+  CHECK(image != nullptr) << "Couldn't read image";
+
+  // Create color image:
+  cv::Mat image_color_mat(cv::Size(image->cols(), image->rows()), CV_8UC2,
+                          (void *)image->data()->data());
+  cv::Mat bgr_image(cv::Size(image->cols(), image->rows()), CV_8UC3);
+  cv::cvtColor(image_color_mat, bgr_image, cv::COLOR_YUV2BGR_YUYV);
+
+  if (!FLAGS_capture.empty()) {
+    cv::imwrite(FLAGS_capture, bgr_image);
+    return false;
+  }
+
+  cv::imshow("Display", bgr_image);
+  int keystroke = cv::waitKey(1);
+  if ((keystroke & 0xFF) == static_cast<int>('c')) {
+    // Convert again, to get clean image
+    cv::cvtColor(image_color_mat, bgr_image, cv::COLOR_YUV2BGR_YUYV);
+    std::stringstream name;
+    name << "capture-" << aos::realtime_clock::now() << ".png";
+    cv::imwrite(name.str(), bgr_image);
+    LOG(INFO) << "Saved image file: " << name.str();
+  } else if ((keystroke & 0xFF) == static_cast<int>('q')) {
+    return false;
+  }
+  return true;
+}
+
+void ViewerMain() {
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig(FLAGS_config);
+
+  aos::ShmEventLoop event_loop(&config.message());
+
+  image_fetcher = event_loop.MakeFetcher<CameraImage>(FLAGS_channel);
+
+  // Run the display loop
+  event_loop.AddPhasedLoop(
+      [&event_loop](int) {
+        if (!DisplayLoop()) {
+          LOG(INFO) << "Calling event_loop Exit";
+          event_loop.Exit();
+        };
+      },
+      ::std::chrono::milliseconds(100));
+
+  event_loop.Run();
+
+  image_fetcher = aos::Fetcher<CameraImage>();
+}
+
+}  // namespace
+}  // namespace vision
+}  // namespace frc971
+
+int main(int argc, char **argv) {
+  aos::InitGoogle(&argc, &argv);
+  frc971::vision::ViewerMain();
+}