Fixes #29 by not constructing window

components/renderers/cpp/src/display.cpp

@@ -19,6 +19,7 @@ Display::Display(nlohmann::json &config, std::string name) : config_(config) {
 #endif  // HAVE_VIZ
 
 #if defined HAVE_PCL
+	if (config.value("points", false)) {
 		pclviz_ = pcl::visualization::PCLVisualizer::Ptr(new pcl::visualization::PCLVisualizer ("FTL Cloud: " + name));
 		pclviz_->setBackgroundColor (255, 255, 255);
 		pclviz_->addCoordinateSystem (1.0);
@@ -74,6 +75,7 @@ Display::Display(nlohmann::json &config, std::string name) : config_(config) {
 				viewer->setCameraParameters(cam);
 
 			}, (void*)&pclviz_);
+	}
 #endif  // HAVE_PCL
 
 	active_ = true;
@@ -210,7 +212,7 @@ bool Display::render(const cv::Mat &rgb, const cv::Mat &depth, const ftl::rgbd::
 #if defined HAVE_PCL
 bool Display::render(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr pc) {	
 	pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pc);
-	if (!pclviz_->updatePointCloud<pcl::PointXYZRGB> (pc, rgb, "reconstruction")) {
+	if (pclviz_ && !pclviz_->updatePointCloud<pcl::PointXYZRGB> (pc, rgb, "reconstruction")) {
 		pclviz_->addPointCloud<pcl::PointXYZRGB> (pc, rgb, "reconstruction");
 		pclviz_->setCameraPosition(-878.0, -71.0, -2315.0, -0.1, -0.99, 0.068, 0.0, -1.0, 0.0);
 		pclviz_->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "reconstruction");
@@ -242,7 +244,7 @@ bool Display::render(const cv::Mat &img, style_t s) {
 void Display::wait(int ms) {
 	if (config_["points"]) {
 		#if defined HAVE_PCL
-		pclviz_->spinOnce(20);
+		if (pclviz_) pclviz_->spinOnce(20);
 		#elif defined HAVE_VIZ
 		window_->spinOnce(1, true);
 		#endif  // HAVE_VIZ
@@ -258,7 +260,7 @@ void Display::wait(int ms) {
 
 bool Display::active() const {
 	#if defined HAVE_PCL
-	return active_ && !pclviz_->wasStopped();
+	return active_ && (!pclviz_ || !pclviz_->wasStopped());
 	#elif defined HAVE_VIZ
 	return active_ && !window_->wasStopped();
 	#else