From 967e53fd2a0035b8d234ca8afb0d175e73cd5b3f Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Fri, 19 Jan 2024 07:01:17 -0500
Subject: [PATCH] use cv::DestroyAllWindows (#863)

This ports #816 to ROS 2 and prevents weird exit conditions if you
already closed the window
---
 image_view/src/disparity_view_node.cpp | 2 +-
 image_view/src/image_view_node.cpp     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/image_view/src/disparity_view_node.cpp b/image_view/src/disparity_view_node.cpp
index 4bc04aaa9..f69f91db1 100644
--- a/image_view/src/disparity_view_node.cpp
+++ b/image_view/src/disparity_view_node.cpp
@@ -88,7 +88,7 @@ DisparityViewNode::DisparityViewNode(const rclcpp::NodeOptions & options)
 
 DisparityViewNode::~DisparityViewNode()
 {
-  cv::destroyWindow(window_name_);
+  cv::destroyAllWindows();
 }
 
 void DisparityViewNode::imageCb(const stereo_msgs::msg::DisparityImage::SharedPtr msg)
diff --git a/image_view/src/image_view_node.cpp b/image_view/src/image_view_node.cpp
index c44ef55e8..a8bfdcd34 100644
--- a/image_view/src/image_view_node.cpp
+++ b/image_view/src/image_view_node.cpp
@@ -259,7 +259,7 @@ void ImageViewNode::windowThread()
     }
   }
 
-  cv::destroyWindow(window_name_);
+  cv::destroyAllWindows();
 
   if (rclcpp::ok()) {
     rclcpp::shutdown();