Found a workaround for Issue 5 to avoid segmentation faults. The data included in the created window are cleared, but the window itself is not destroyed, only when its parent is deleted -> here the MainWindow. It seems that child CloudViewer windows don't crash when deleted on application exit.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1826 f169173b-cf89-36c8-b27e-44dbe73f0c83

guilib/include/rtabmap/gui/CloudViewer.h

@@ -155,6 +155,7 @@ public slots:
 	void setCloudVisibility(const std::string & id, bool isVisible);
 	void setCloudOpacity(const std::string & id, double opacity = 1.0);
 	void setCloudPointSize(const std::string & id, int size);
+	virtual void clear() {removeAllClouds(); clearTrajectory();}
 
 protected:
 	virtual void keyReleaseEvent(QKeyEvent * event);

guilib/include/rtabmap/gui/OdometryViewer.h

@@ -46,6 +46,9 @@ public:
 	OdometryViewer(int maxClouds = 10, int decimation = 2, float voxelSize = 0.0f, int qualityWarningThr=0, QWidget * parent = 0);
 	virtual ~OdometryViewer() {}
 
+public slots:
+	virtual void clear();
+
 protected:
 	void handleAction(QAction * a);
 	virtual void handleEvent(UEvent * event);