PCLVisualizer can‘t close

[zgp20010421]

#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!

[mvieth]

• Which operating system do you use?
• How did you install PCL?
• Which compiler do you use?

[zgp20010421]

• Which operating system do you use?
• How did you install PCL?
• Which compiler do you use?

I use ubuntu version is 18.04,
I git clone tags is 1.10.1
I use compiler is gcc, such as:
gcc (Ubuntu 7.5.0-3ubuntu1~18.04) 7.5.0
Copyright (C) 2017 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
Thank you !

[mvieth]

Since your Ubuntu version is officially end-of-life, and the PCL version you use is also several years old (newest is PCL 1.15.1), I do not think that I can help you or even reproduce the problem. Actually, I think it is likely that the problem was fixed in one of the PCL releases since then. I would recommend you to upgrade to a Ubuntu version that is still supported (Ubuntu 22.04 or newer), then use the newest PCL release (PCL 1.15.1). If the problem still occurs then, I can further look into it.

[zgp20010421]

Since your Ubuntu version is officially end-of-life, and the PCL version you use is also several years old (newest is PCL 1.15.1), I do not think that I can help you or even reproduce the problem. Actually, I think it is likely that the problem was fixed in one of the PCL releases since then. I would recommend you to upgrade to a Ubuntu version that is still supported (Ubuntu 22.04 or newer), then use the newest PCL release (PCL 1.15.1). If the problem still occurs then, I can further look into it.

Thank you，I will try it！