ROS与Qt5人机交互界面开发-显示激光雷达点云数据

ROS与Qt5人机交互界面开发-显示激光雷达点云数据

说明：

• 介绍如何显示激光雷达点云数据

步骤：

• 实现效果：

• 核心代码
• 如果按照本人前几篇博客的话进程的话，就很容易实现这个功能了，主要就是用manager添加一个display：

//显示激光雷达
void QRviz::Display_LaserScan(bool enable,QString topic)
{
    if(laser_==NULL)
    {
        laser_=manager_->createDisplay("rviz/LaserScan","QLaser",enable);
        ROS_ASSERT(laser_);
        laser_->subProp("Topic")->setValue(topic);
    }
    else{
        delete laser_;
        laser_=manager_->createDisplay("rviz/LaserScan","QLaser",enable);
        ROS_ASSERT(laser_);
        laser_->subProp("Topic")->setValue(topic);
    }
    qDebug()<<"topic:"<<topic;
    laser_->setEnabled(enable);
    manager_->startUpdate();
}

• qrviz.hpp内容如下：

#ifndef QRVIZ_H
#define QRVIZ_H

#include <QVBoxLayout>
#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/display.h>
#include <rviz/tool_manager.h>
#include <rviz/visualization_manager.h>
#include <rviz/render_panel.h>
#include <rviz/display.h>
#include<rviz/tool_manager.h>
#include <rviz_visual_tools/rviz_visual_tools.h>
#include <QThread>
#include <QDebug>
class QRviz:public QThread
{
    Q_OBJECT
public:
    QRviz(QVBoxLayout *layout,QString node_name);
    void run();
    void createDisplay(QString display_name,QString topic_name);
    //显示Grid
    void Display_Grid(bool enable,QString Reference_frame,int Plan_Cell_count,QColor color=QColor(125,125,125));
    //显示map
    void Display_Map(bool enable,QString topic,double Alpha,QString Color_Scheme);
    //设置全局显示属性
    void SetGlobalOptions(QString frame_name,QColor backColor,int frame_rate);
    //显示激光雷达点云
    void Display_LaserScan(bool enable,QString topic);

private:
    rviz::RenderPanel *render_panel_;
    rviz::VisualizationManager *manager_;
    rviz::Display* grid_=NULL ;
    rviz::Display* map_=NULL ;
    rviz::Display* laser_=NULL ;
    QVBoxLayout *layout;
    QString nodename;

 //   rviz::VisualizationManager *manager_=NULL;
//    rviz::RenderPanel *render_panel_;

};

#endif // QRVIZ_H

• qrviz.cpp内容如下：

#include "../include/cyrobot_monitor/qrviz.hpp"

QRviz::QRviz(QVBoxLayout *layout,QString node_name)
{
    int argc;
    char **argv;
    this->layout=layout;
    this->nodename=node_name;
    ros::init(argc,argv,"QRviz",ros::init_options::AnonymousName);
    //创建rviz容器
    render_panel_=new rviz::RenderPanel;
    //向layout添加widget
    layout->addWidget(render_panel_);
    //初始化rviz控制对象
    manager_=new rviz::VisualizationManager(render_panel_);
   //初始化camera 这行代码实现放大 缩小 平移等操作
    render_panel_->initialize(manager_->getSceneManager(),manager_);



//       //工具管理
//       rviz::ToolManager* tool_man;
//       connect( tool_man, SIGNAL( toolAdded( Tool* )), this, SLOT( addTool( Tool* )));
//       connect( tool_man, SIGNAL( toolRemoved( Tool* )), this, SLOT( removeTool( Tool* )));
//       connect( tool_man, SIGNAL( toolRefreshed( Tool* )), this, SLOT( refreshTool( Tool* )));
//       connect( tool_man, SIGNAL( toolChanged( Tool* )), this, SLOT( indicateToolIsCurrent( Tool* )));
    manager_->initialize();
    manager_->removeAllDisplays();





}
//显示grid
void QRviz::Display_Grid(bool enable,QString Reference_frame,int Plan_Cell_count,QColor color)
{
    if(grid_==NULL)
    {
        grid_ = manager_->createDisplay( "rviz/Grid", "adjustable grid", true );
        ROS_ASSERT( grid_ != NULL );
        // Configure the GridDisplay the way we like it.
        grid_->subProp( "Line Style" )->setValue("Billboards");
        grid_->subProp( "Color" )->setValue(color);
        grid_->subProp( "Reference Frame" )->setValue(Reference_frame);
        grid_->subProp("Plane Cell Count")->setValue(Plan_Cell_count);

    }
    else{
        delete grid_;
        grid_ = manager_->createDisplay( "rviz/Grid", "adjustable grid", true );
        ROS_ASSERT( grid_ != NULL );
        // Configure the GridDisplay the way we like it.
        grid_->subProp( "Line Style" )->setValue("Billboards");
        grid_->subProp( "Color" )->setValue(color);
        grid_->subProp( "Reference Frame" )->setValue(Reference_frame);
        grid_->subProp("Plane Cell Count")->setValue(Plan_Cell_count);
    }
    grid_->setEnabled(enable);
    manager_->startUpdate();
}
//显示map
void QRviz::Display_Map(bool enable,QString topic,double Alpha,QString Color_Scheme)
{
    if(!enable&&map_)
    {
        map_->setEnabled(false);
        return ;
    }
    if(map_==NULL)
    {
        map_=manager_->createDisplay("rviz/Map","QMap",true);

        ROS_ASSERT(map_);
        map_->subProp("Topic")->setValue(topic);
        map_->subProp("Alpha")->setValue(Alpha);
        map_->subProp("Color Scheme")->setValue(Color_Scheme);
    }
    else{
         ROS_ASSERT(map_);
         qDebug()<<"asdasdasd:"<<topic<<Alpha;

        delete map_;
        map_=manager_->createDisplay("rviz/Map","QMap",true);
        ROS_ASSERT(map_);
        map_->subProp("Topic")->setValue(topic);
        map_->subProp("Alpha")->setValue(Alpha);
        map_->subProp("Color Scheme")->setValue(Color_Scheme);
    }

    map_->setEnabled(enable);
    manager_->startUpdate();
}
//显示激光雷达
void QRviz::Display_LaserScan(bool enable,QString topic)
{
    if(laser_==NULL)
    {
        laser_=manager_->createDisplay("rviz/LaserScan","QLaser",enable);
        ROS_ASSERT(laser_);
        laser_->subProp("Topic")->setValue(topic);
    }
    else{
        delete laser_;
        laser_=manager_->createDisplay("rviz/LaserScan","QLaser",enable);
        ROS_ASSERT(laser_);
        laser_->subProp("Topic")->setValue(topic);
    }
    qDebug()<<"topic:"<<topic;
    laser_->setEnabled(enable);
    manager_->startUpdate();
}
//设置全局显示
 void QRviz::SetGlobalOptions(QString frame_name,QColor backColor,int frame_rate)
 {
     manager_->setFixedFrame(frame_name);
     manager_->setProperty("Background Color",backColor);
     manager_->setProperty("Frame Rate",frame_rate);
     manager_->startUpdate();
 }
void QRviz::createDisplay(QString display_name,QString topic_name)
{


}
void QRviz::run()
{

}