环境

• 系统：Ubuntu 18.04
• QT版本：QT 5.12.4
• QT Creator-ROS版本：4.9.2 该版本嵌入了对ROS的支持

前言

主要参考了 librviz_tutorial 的代码，但是在我的环境下运行存在问题，故做了一些修改并添加 PointCloud2 类型的点云话题消息的订阅显示，原项目是基于 QT4 ，这里我将其修改为 QT5 。

最终实现效果如下（左边是 QT 窗口，右边是与 Rviz 对比）：

项目结构

仅关注 myviz.h 、myviz.cpp 和 main.cpp 这几个文件即可，其他文件与此实验无关。

myviz.h

创建成员变量 cloud 用于点云显示。

#ifndef MYVIZ_H
#define MYVIZ_H

#include <QWidget>

namespace rviz
{
class Display;
class RenderPanel;
class VisualizationManager;
}

// BEGIN_TUTORIAL
// Class "MyViz" implements the top level widget for this example.
class MyViz: public QWidget
{
Q_OBJECT
public:
  MyViz( QWidget* parent = 0 );
  virtual ~MyViz();

private Q_SLOTS:
  void setThickness( int thickness_percent );
  void setCellSize( int cell_size_percent );

private:
  rviz::VisualizationManager* manager_;
  rviz::RenderPanel* render_panel_;
  rviz::Display* grid_;
  rviz::Display* cloud;
};
// END_TUTORIAL

#endif // MYVIZ_H

myviz.cpp

• 添加固定坐标系为 livox_frame ，否则你的点云可能无法显示；
• 添加点云的显示参数，参考 Rviz 中的参数进行填写即可。

#include <QSlider>
#include <QLabel>
#include <QGridLayout>
#include <QVBoxLayout>

#include "rviz/visualization_manager.h"
#include "rviz/render_panel.h"
#include "rviz/display.h"

#include "../include/qtgui/myviz.h"

// BEGIN_TUTORIAL
// Constructor for MyViz.  This does most of the work of the class.
MyViz::MyViz( QWidget* parent )
  : QWidget( parent )
{
  // Construct and lay out labels and slider controls.
  QLabel* thickness_label = new QLabel( "Line Thickness" );
  QSlider* thickness_slider = new QSlider( Qt::Horizontal );
  thickness_slider->setMinimum( 1 );
  thickness_slider->setMaximum( 100 );
  QLabel* cell_size_label = new QLabel( "Cell Size" );
  QSlider* cell_size_slider = new QSlider( Qt::Horizontal );
  cell_size_slider->setMinimum( 1 );
  cell_size_slider->setMaximum( 100 );
  QGridLayout* controls_layout = new QGridLayout();
  controls_layout->addWidget( thickness_label, 0, 0 );
  controls_layout->addWidget( thickness_slider, 0, 1 );
  controls_layout->addWidget( cell_size_label, 1, 0 );
  controls_layout->addWidget( cell_size_slider, 1, 1 );

  // Construct and lay out render panel.
  render_panel_ = new rviz::RenderPanel();
  QVBoxLayout* main_layout = new QVBoxLayout;
  main_layout->addLayout( controls_layout );
  main_layout->addWidget( render_panel_ );

  // Set the top-level layout for this MyViz widget.
  setLayout( main_layout );

  // Make signal/slot connections.
  connect( thickness_slider, SIGNAL( valueChanged( int )), this, SLOT( setThickness( int )));
  connect( cell_size_slider, SIGNAL( valueChanged( int )), this, SLOT( setCellSize( int )));

  // Next we initialize the main RViz classes.
  //
  // The VisualizationManager is the container for Display objects,
  // holds the main Ogre scene, holds the ViewController, etc.  It is
  // very central and we will probably need one in every usage of
  // librviz.
  manager_ = new rviz::VisualizationManager( render_panel_ );
  render_panel_->initialize( manager_->getSceneManager(), manager_ );
  manager_->setFixedFrame("livox_frame");
  manager_->initialize();
  manager_->startUpdate();

  // Create a Grid display.
  grid_ = manager_->createDisplay( "rviz/Grid", "adjustable grid", true );
  ROS_ASSERT( grid_ != NULL );

  cloud = manager_->createDisplay( "rviz/PointCloud2", "point cloud", true );
  ROS_ASSERT( cloud != NULL );
  cloud->subProp("Topic")->setValue("/livox/lidar");
  cloud->subProp("Style")->setValue("Points");
  cloud->subProp("Size (Pixels)")->setValue("2");
  cloud->subProp("Color Transformer")->setValue("Intensity");
  cloud->subProp("Invert Rainbow")->setValue("true");
  cloud->subProp("Decay Time")->setValue("1");

  // Configure the GridDisplay the way we like it.
  grid_->subProp( "Line Style" )->setValue( "Billboards" );
  grid_->subProp( "Color" )->setValue( QVariant::fromValue(Qt::yellow) );

  // Initialize the slider values.
  thickness_slider->setValue( 25 );
  cell_size_slider->setValue( 10 );
}

// Destructor.
MyViz::~MyViz()
{
  delete manager_;
}

// This function is a Qt slot connected to a QSlider's valueChanged()
// signal.  It sets the line thickness of the grid by changing the
// grid's "Line Width" property.
void MyViz::setThickness( int thickness_percent )
{
  if( grid_ != NULL )
  {
    grid_->subProp( "Line Style" )->subProp( "Line Width" )->setValue( thickness_percent / 100.0f );
  }
}

// This function is a Qt slot connected to a QSlider's valueChanged()
// signal.  It sets the cell size of the grid by changing the grid's
// "Cell Size" Property.
void MyViz::setCellSize( int cell_size_percent )
{
  if( grid_ != NULL )
  {
    grid_->subProp( "Cell Size" )->setValue( cell_size_percent / 10.0f );
  }
}

main.cpp

注意添加头文件。

/**
 * @file /src/main.cpp
 *
 * @brief Qt based gui.
 *
 * @date November 2010
 **/
/*****************************************************************************
** Includes
*****************************************************************************/

#include <QtGui>
#include <QApplication>
#include <ros/ros.h>
#include "../include/qtgui/myviz.h"

int main(int argc, char **argv)
{
  if( !ros::isInitialized() )
  {
    ros::init( argc, argv, "myviz", ros::init_options::AnonymousName );
  }

  QApplication app( argc, argv );

  MyViz* myviz = new MyViz();
  myviz->show();

  app.exec();

  delete myviz;
}

CMakeLists.txt

• 项目名称要改为自己的，这里我的是 qtgui；
• 从官方示例中的 QT4 改为了 QT5；
• 根据自己项目结构添加头文件路径。

cmake_minimum_required(VERSION 2.8.3)
project(qtgui)
find_package(catkin REQUIRED COMPONENTS rviz roscpp)
catkin_package()
include_directories(${catkin_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS})

## This plugin includes Qt widgets, so we must include Qt like so:
find_package(Qt5 REQUIRED Core Widgets)
set(QT_LIBRARIES Qt5::Widgets)
#include(${QT_USE_FILE})

## I prefer the Qt signals and slots to avoid defining "emit", "slots",
## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
add_definitions(-DQT_NO_KEYWORDS)

## Here we specify which header files need to be run through "moc",
## Qt's meta-object compiler.
qt5_wrap_cpp(MOC_FILES
  include/qtgui/myviz.h
)

## Here we specify the list of source files, including the output of
## the previous command which is stored in ``${MOC_FILES}``.
set(SOURCE_FILES
  src/myviz.cpp
  src/main.cpp
  ${MOC_FILES}
)

## Add the "myviz" executable and specify the list of source files we
## collected above in ``${SOURCE_FILES}``.
add_executable(myviz ${SOURCE_FILES})

## Link the myviz executable with whatever Qt libraries have been defined by
## the ``find_package(Qt4 ...)`` line above, and with whatever libraries
## catkin has included.
target_link_libraries(myviz ${QT_LIBRARIES} ${catkin_LIBRARIES})
## END_TUTORIAL

## Install
install(TARGETS myviz DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

package.xml

• 项目名称改为自己的，这里我的是 qtgui；
• 在这里添加对 rviz 的依赖。

<package>
  <name>qtgui</name>
  <version>0.8.4</version>
  <description>
     Tutorial showing how to compile your own C++ program with RViz displays and features.
  </description>
  <license>BSD</license>

  <url>http://ros.org/wiki/librviz_tutorial</url>
  <author>Dave Hershberger</author>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>
  <build_depend>rviz</build_depend>

  <run_depend>roscpp</run_depend>
  <run_depend>rviz</run_depend>

  <export>
      <rosdoc config="${prefix}/rosdoc.yaml"/>
  </export>
</package>