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problem is here:

  waitKey(0);  //  -- will wait **forever**.

rather use:

  waitKey(10);  //  -- sleep for 10 microseconds

problem is here:

  waitKey(0);  //  -- will wait **forever**.

rather use:

 waitKey(10); if (waitKey(10) == 27)  //  -- sleep for 10 microseconds
microseconds, wait for "esc".
        break;