Fixed shutdown without viewer

vigorbird · Jan 4, 2017 · 2f1b9b0 · 2f1b9b0
1 parent 00f7840
commit 2f1b9b0
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/src/System.cc b/src/System.cc
@@ -303,16 +303,20 @@ void System::Shutdown()
  mpLocalMapper->RequestFinish();
  mpLoopCloser->RequestFinish();
  if(mpViewer)
+ {
  mpViewer->RequestFinish();
+ while(!mpViewer->isFinished())
+ usleep(5000);
+ }
 
  // Wait until all thread have effectively stopped
- while(!mpLocalMapper->isFinished() || !mpLoopCloser->isFinished() ||
- !mpViewer->isFinished() || mpLoopCloser->isRunningGBA())
+ while(!mpLocalMapper->isFinished() || !mpLoopCloser->isFinished() || mpLoopCloser->isRunningGBA())
  {
  usleep(5000);
  }
 
- pangolin::BindToContext("ORB-SLAM2: Map Viewer");
+ if(mpViewer)
+ pangolin::BindToContext("ORB-SLAM2: Map Viewer");
 }
 
 void System::SaveTrajectoryTUM(const string &filename)