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Not in the general sense, but rather specific to your question, you can have a look at RGBD-SLAM which uses qt and opengl. The CMakeLists.txt and manifest can be found here

Check out main.cpp, qtros.h and qtros.cpp to see how we moved the ROS spinning into a subclass of QThread to run the callbacks in parallel to the Qt application's event loop.

Not in the general sense, but rather specific to your question, you can have a look at RGBD-SLAM which uses qt and opengl. The CMakeLists.txt and manifest can be found here

Check out main.cpp, qtros.h and qtros.cpp to see how we moved the ROS spinning into a subclass of QThread to run the callbacks in parallel to the Qt application's event loop.

(update The above links used to point to the repository http://alufr-ros-pkg.googlecode.com/svn/branches/freiburg_kinect-experimental/rgbdslam which no longer exists and have been updated to point at the github rgbdslam_v2 repo which may or may not illustrate what is described)

Not in the general sense, but rather specific to your question, you can have a look at RGBD-SLAM which uses qt and opengl. The CMakeLists.txt and manifest can be found here

Check out main.cpp, qtros.h and qtros.cpp to see how we moved the ROS spinning into a subclass of QThread to run the callbacks in parallel to the Qt application's event loop.

(updateUpdate: The above links used to point to the repository http://alufr-ros-pkg.googlecode.com/svn/branches/freiburg_kinect-experimental/rgbdslam which no longer exists and have been updated to point at the github rgbdslam_v2 repo which may or may not illustrate what is described)