The Envire Visualizer is a stand alone Qt-Window, that can be used to visualize any graph.

To use the visualizer you need to link against libenvire_visualizer.

In the Main Thread

If you already have a QApplication you obviously do not need to create another one.

In a separate Thread

It is also possible to use the visualizer in a separate thread, e.g. if you do not want to block the main thread. This is done using the QThreadedWidget from vizkit3d, i.e. you need to link against vizkit3d for this to work.