From 2f1b9b0e15f31c06789befb126d9ba8f6c93de46 Mon Sep 17 00:00:00 2001
From: raulmur <rmurartal@gmail.com>
Date: Wed, 4 Jan 2017 11:05:17 +0100
Subject: [PATCH] Fixed shutdown without viewer

---
 src/System.cc | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/System.cc b/src/System.cc
index 48586e406d..8df4157095 100644
--- 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)