Memory leak when using pcl::visualization::PCLVisualizer with interactor

Your Environment

I have two environments, one with Linux and the other one with Windows.
Windows environment:

• Operating System and version: Windows 7 x64 Professional
• Compiler: Microsoft Visual Studio 2017 toolset v140
• PCL Version: 1.8.0

Linux environment:

• Operating System and version: xubuntu 16.10 x64
• Compiler: g++ 5.2
• PCL Version: 1.8.0

Context

I want to display point clouds and save them to images. I want to be able to rotate, scale and move clouds while displaying them.

Expected Behavior

Every time PCLVisualizer is created and initialized it consumes some RAM and GPU RAM. It has to be freed after calls to close and release.

Current Behavior

Despite calling close on PCLVisualizer and release on a shared pointer holding it most of the allocated memory is not released.

Code to Reproduce

Possible Solution

This is definetely related to reference counting of VTK objects and a cyclic strong reference chain created in createInteractor. When interactor is not created no memory is leaked, but visualizer is not usable.

I tried to clear the reference cycle in destructor of PCLVisualizer. It worked on Windows. But on Linux I get BadWindow error in console and application terminates. I added the following to if (interactor_ != NULL) block of destructor

interactor_->SetRenderWindow(nullptr);
interactor_->SetInteractorStyle(nullptr);

Could you tell what else needs to be done so that X Server would not report an error?

Start at pcl::visualization::PCLVisualizer, focusing on createInteractor and the destructor's interactor_ cleanup. Reproduce repeated visualizer creation and release on the reported Linux and Windows environments, then trace the VTK reference cycle and the BadWindow failure. Done means the visualizer can be created, used, closed, and released without retained memory or X Server errors.