pcl: Failing version of PR #76

[EricCousineau-TRI]

This is a failing version of PR #76, because it includes visualization as a PCL component.

\cc @jamiesnape

---

This change is 

[EricCousineau-TRI]

Failure mode:

$ gdb ./src/pcl/simple_pcl_example                                                                                                   
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Invoked "set sysroot" to enable debugging locally
Registered GDB printers for Drake
Reading symbols from ./src/pcl/simple_pcl_example...(no debugging symbols found)...done.
(gdb) r
Starting program: ${parent_dir}/drake-shambhala/drake_cmake_installed-build/src/pcl/simple_pcl_example 
warning: the debug information found in "/lib64/ld-2.23.so" does not match "/lib64/ld-linux-x86-64.so.2" (CRC mismatch).

[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
PointCloud before filtering: 100000
PointCloud after filtering: 99368
Generic Warning: In /build/vtk6-dmAaMa/vtk6-6.2.0+dfsg1/Rendering/Core/vtkPainterDeviceAdapter.cxx, line 29
Error: no override found for 'vtkPainterDeviceAdapter'.

Generic Warning: In /build/vtk6-dmAaMa/vtk6-6.2.0+dfsg1/Rendering/Core/vtkPainterDeviceAdapter.cxx, line 29
Error: no override found for 'vtkPainterDeviceAdapter'.

Generic Warning: In /build/vtk6-dmAaMa/vtk6-6.2.0+dfsg1/Rendering/Core/vtkPainterDeviceAdapter.cxx, line 29
Error: no override found for 'vtkPainterDeviceAdapter'.


Program received signal SIGSEGV, Segmentation fault.
0x00007ffff20c19d2 in vtkRenderer::GetActiveCamera() () from ${drake_install}/lib/libvtkRenderingCore-8.0.so.1
(gdb) bt
#0  0x00007ffff20c19d2 in vtkRenderer::GetActiveCamera() () from ${drake_install}/lib/libvtkRenderingCore-8.0.so.1
#1  0x00007ffff76b343d in drake::systems::sensors::RgbdRendererVTK::Impl::Impl(drake::systems::sensors::RgbdRendererVTK*, Eigen::Transform<double, 3, 1, 0> const&) ()
   from ${drake_install}/lib/libdrake.so
#2  0x00007ffff76b4bce in drake::systems::sensors::RgbdRendererVTK::RgbdRendererVTK(drake::systems::sensors::RenderingConfig const&, Eigen::Transform<double, 3, 1, 0> const&) ()
   from ${drake_install}/lib/libdrake.so
#3  0x00007ffff71104b5 in drake::systems::sensors::RgbdCamera::RgbdCamera(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, RigidBodyTree<double> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, bool) ()
   from ${drake_install}/lib/libdrake.so
#4  0x0000000000476a70 in std::_MakeUniq<drake::systems::sensors::RgbdCamera>::__single_object std::make_unique<drake::systems::sensors::RgbdCamera, char const (&) [12], RigidBodyTree<double> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, double, bool>(char const (&) [12], RigidBodyTree<double> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1>&&, Eigen::Matrix<double, 3, 1, 0, 3, 1>&&, double&&, double&&, double&&, bool&&) ()
#5  0x0000000000467bd1 in test_drake_camera() ()
#6  0x0000000000467dc3 in main ()

NOTE: This is different than the segfault currently occurring in #76, in that does not happen upon destruction.

[EricCousineau-TRI]

@jamiesnape I've added this case as a config option. Is this worth anything having in master, or avoid it for now to prevent convoluting this example file?

[jamiesnape]

Lets avoid this for now, but leave the PR open and I will investigate why it is failing.

[EricCousineau-TRI]

Action item: Codify this into an issue.

[EricCousineau-TRI]

Done. Put xref in #91.