1、安装 QT-create
https://download.qt.io/archive/qt/
进入网站后找到 qt-opensource-linux-x64-5.12.2.run,开始下载
chmod +x qt-opensource-linux-x64-5.12.2.run
./qt-opensource-linux-x64-5.12.2.run
2、安装QT-ros
https://ros-qtc-plugin.readthedocs.io/en/latest/_source/How-to-Install-Users.html
选择离线安装
3、创建新的工程
注意:选择CatkinMake
4、编译
5、运行
6、开始创作
参考蒋大佬的文章
https://blog.csdn.net/qq_38441692?type=blog
Qt5 安装ros插件ros_qtc_plugin
sudo add-apt-repository ppa:levi-armstrong/qt-libraries-xenial
sudo add-apt-repository ppa:levi-armstrong/ppa
sudo apt-get update && sudo apt-get install qt57creator-plugin-ros
shanchu的软件源请运行
sudo add-apt-repository --remove ppa:beineri/opt-qt57-xenial
sudo add-apt-repository --remove ppa:beineri/opt-qt571-xenial
anzhuangshibai
在这里插入代码片
sudo add-apt-repository ppa:levi-armstrong/qt-libraries-xenial
sudo add-apt-repository ppa:levi-armstrong/ppa
sudo apt update && sudo apt install qt57creator
sudo apt install qt57creator-plugin-ros
7、按钮启动终端
在UI 上定义一个按钮
跳转到信号槽
.c 写代码
void robomap::MainWindow::on_pushButton_6_clicked()
{
system("gnome-terminal -x bash -c 'source ~/turtlebot_hokuyo/devel/setup.bash; roslaunch turtlebot_bringup minimal.launch'&");
}
.h 定义
8、如何在QT里显示相机界面
首先相机发布话题
这里使用的是intel d435i
通过 realsense-ros 发布相机话题
roslaunch realsense2_camera rs_camera.launch
首先在功能包的CMakeLists.txt中添加依赖
find_package(catkin REQUIRED COMPONENTS rviz roscpp sensor_msgs
cv_bridge
std_msgs
image_transport
)
订阅话题
ros::NodeHandle n;
image_transport::ImageTransport it_(n);
image_sub=it_.subscribe(topic.toStdString(),100,&QNode::imageCallback0,this);
回调函数处理图片数据
//图像话题的回调函数
void QNode::imageCallback0(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
//深拷贝转换为opencv类型
cv_ptr = cv_bridge::toCvCopy(msg, msg->encoding);
QImage im=Mat2QImage(cv_ptr->image);
emit Show_image(0,im);
}
catch (cv_bridge::Exception& e)
{
log(Error,("video frame0 exception: "+QString(e.what())).toStdString());
return;
}
}
接着将opencv类型转换为QImage类型(因为Label只能显示QImage类型的图像),通过Mat2QImage函数:
QImage QNode::Mat2QImage(cv::Mat const& src)
{
QImage dest(src.cols, src.rows, QImage::Format_ARGB32);
const float scale = 255.0;
if (src.depth() == CV_8U) {
if (src.channels() == 1) {
for (int i = 0; i < src.rows; ++i) {
for (int j = 0; j < src.cols; ++j) {
int level = src.at<quint8>(i, j);
dest.setPixel(j, i, qRgb(level, level, level));
}
}
} else if (src.channels() == 3) {
for (int i = 0; i < src.rows; ++i) {
for (int j = 0; j < src.cols; ++j) {
cv::Vec3b bgr = src.at<cv::Vec3b>(i, j);
dest.setPixel(j, i, qRgb(bgr[2], bgr[1], bgr[0]));
}
}
}
} else if (src.depth() == CV_32F) {
if (src.channels() == 1) {
for (int i = 0; i < src.rows; ++i) {
for (int j = 0; j < src.cols; ++j) {
int level = scale * src.at<float>(i, j);
dest.setPixel(j, i, qRgb(level, level, level));
}
}
} else if (src.channels() == 3) {
for (int i = 0; i < src.rows; ++i) {
for (int j = 0; j < src.cols; ++j) {
cv::Vec3f bgr = scale * src.at<cv::Vec3f>(i, j);
dest.setPixel(j, i, qRgb(bgr[2], bgr[1], bgr[0]));
}
}
}
}
return dest;
}
接着发送自定义信号到mainwindow:
emit Show_image(0,im);
在mainwindows.cpp链接刚才回调函数中发出的信号:
//链接槽函数
connect(&qnode,SIGNAL(Show_image(int,QImage)),this,SLOT(slot_show_image(int,QImage)));
槽函数中处理信号在槽函数中更新ui界面显示,在lable上显示图像:
void MainWindow::slot_show_image(int frame_id, QImage image)
{
ui.label_video0->setPixmap(QPixmap::fromImage(image).scaled(ui.label_video0->width(),ui.label_video0->height()));
}
定义按钮启动相机
void robomap::MainWindow::on_pushButton_11_clicked()
{
initVideos();
}