properly quit the program

aruco/ArucoDetector.cpp

@@ -50,6 +50,7 @@ ArucoDetector::~ArucoDetector()
 {
     cam->stopVideo();
     cv::destroyAllWindows();
+    delete cam;
 }
 
 

arucoDetector.cpp

@@ -6,21 +6,14 @@
 #include <atomic>
 #include <optional>
 
-std::atomic<bool> stopRequested(false);
-
-void userInputThread() {
-    // Wait for the user to press Enter
-    std::cout << "Press Enter to stop the program..." << std::endl;
-    std::cin.ignore();
-    stopRequested = true;
-}
-
 int main(int argc, char *argv[])
 {
     // Settup argument parser
 
     bool headless = false;
 
+    bool stopRequested = false;
+
     for (int i = 0; i < argc; i++)
     {
         if (std::string(argv[i]) == "--help")
@@ -46,14 +39,6 @@ int main(int argc, char *argv[])
 
     const std::string calibrationPath = argv[1];
 
-    // End argument parser
-    std::optional<std::thread> userInput;
-
-    if (headless)
-    {
-        userInput = std::thread(userInputThread);
-    }
-
     ArucoDetector detector(calibrationPath, BLUE, headless);
 
     auto whiteFlower = ArucoTag(36, "White_flower", 19.6, FLOWER);
@@ -109,17 +94,11 @@ int main(int argc, char *argv[])
             }
         }
 
-        if (stopRequested)
+        if (client.shouldStop() || stopRequested)
         {
             break;
         }
     }
 
-    // Wait for the user input thread to finish
-    if (userInput.has_value())
-    {
-        userInput.value().join();
-    }
-
     return 0;
 }