PCLVisualizer can‘t close #6416
Description
#include
#include "tcp.hpp"
#include "common.hpp"
#include "visual_opencv.hpp"
#include "cmd_args.hpp"
#include "config.hpp"
#include "img_proc.hpp"
#include <pcl/point_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/common/common.h>
#include <vtkRenderWindow.h>
int main(int argc, char** argv) {
g_options = parse_cmd(argc, argv);
int ret = config::config_init(config::CFG_PATH, g_config);
COMM_LOG_AND_RETURN_IF_EXPR_FALSE(ret == COMM_SUCCESS, ret, "config_init failed!");
std::cout<<"config_init success!"<<std::endl;
// pcl::visualization::PCLVisualizer::Ptr g_viewer=new pcl::visualization::PCLVisualizer("Real-time Plane Fitting Debugger");
// g_viewer.reset(new pcl::visualization::PCLVisualizer("Real-time Plane Fitting Debugger"));
// pcl::visualization::PCLVisualizer::Ptr g_viewer(new pcl::visualization::PCLVisualizer("Real-time Plane Fitting Debugger"));
pcl::visualization::PCLVisualizer viewer("Real-time Plane Fitting Debugger");
vtkSmartPointer<vtkRenderWindow> win = viewer.getRenderWindow();
viewer.setBackgroundColor(0.05, 0.05, 0.05);
viewer.addCoordinateSystem(0.2, "world_axis");
viewer.initCameraParameters();
viewer.setCameraPosition(0, 0, -0.2, 0, 0, 1, 0, -1, 0);
viewer.setCameraFieldOfView(1.1);
viewer.setCameraClipDistances(0.01, 100.0);
// g_viewer->setBackgroundColor(0.05, 0.05, 0.05);
// g_viewer->addCoordinateSystem(0.2, "world_axis");
// g_viewer->initCameraParameters();
// g_viewer->setCameraPosition(0, 0, -0.2, 0, 0, 1, 0, -1, 0);
// g_viewer->setCameraFieldOfView(1.1);
// g_viewer->setCameraClipDistances(0.01, 100.0);
int cnt=0;
while(1){
viewer.spinOnce(100);
// g_viewer->spinOnce(100);
// usleep(100);
cnt++;
if(cnt>50)
break;
}
// g_viewer->close();
viewer.close();
win->Finalize();
printf("finish!\n");
while(true)
{
sleep(3);
}
return 0;
}
My code is above. I create a PCLVisualizer viewer，but viewer window can't closed.
I ues PCL version is 1.8.1 or 1.10.1.
I am looking foward your reply!