Rtabmap viz crash with toggle on-off eye dome lighting shading

[wonwon0]

While using ratbmapviz:

• turnging the eye dome lighting shading representation of the point cloud on
• turning the eye dome lighting shading representation of the point cloud off
• rtabmapviz crashes.

No pointcloud needs to be displayed for this to crash rtabmapviz.

error outputed in the termial:

rtabmapviz: /build/vtk7-yd0MKW/vtk7-7.1.1+dfsg2/Rendering/OpenGL2/vtkEDLShading.cxx:760: virtual void vtkEDLShading::ReleaseGraphicsResources(vtkWindow*): Assertion `"pre: w_exists" && w!=0' failed. [rtabmap/rtabmapviz-39] process has died [pid 20957, exit code -6, cmd /home//catkin_ws/devel/lib/rtabmap_ros/rtabmapviz scan_cloud:=combined_cloud __name:=rtabmapviz __log:=/home//.ros/log/bc6ef780-da9e-11eb-a5ff-f79f55c1d8d9/rtabmap-rtabmapviz-39.log]. log file: /home/***/.ros/log/bc6ef780-da9e-11eb-a5ff-f79f55c1d8d9/rtabmap-rtabmapviz-39.log

The file "rtabmap-rtabmapviz-39*.log" is not present in the logs located in "/home/****/.ros/log/bc6ef780-da9e-11eb-a5ff-f79f55c1d8d9" (neither is "rtabmap-rtabmapviz-39.log")

[matlabbe]

It seems that with VTK8 or 9 this doesn't happen, not sure if it is a VTK7 issue. As VTK7 is default on Ubuntu 20.04, this should be indeed addressed. Enabling/Disabling EDL shader is done here: https://github.com/introlab/rtabmap/blob/ae92ec40d74abde8925a6d047c281062319e430a/guilib/src/CloudViewer.cpp#L2655-L2688

Similar issue: https://github.com/pyvista/pyvistaqt/issues/71