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From: Rich Mattes <richmattes@gmail.com>
To: git-commits@fedoraproject.org
Subject: [rpms/pcl] f44: Update to 1.11.1
Date: Thu, 25 Jun 2026 05:50:01 GMT [thread overview]
Message-ID: <178236660170.1.6841854493344772493.rpms-pcl-85ae4a8b6867@fedoraproject.org> (raw)
A new commit has been pushed.
Repo : rpms/pcl
Branch : f44
Commit : 85ae4a8b68676597ee52d6688f766ad525d923a1
Author : Rich Mattes <richmattes@gmail.com>
Date : 2021-02-22T09:21:23-05:00
Stats : +3373/-3 in 4 file(s)
URL : https://src.fedoraproject.org/rpms/pcl/c/85ae4a8b68676597ee52d6688f766ad525d923a1?branch=f44
Log:
Update to 1.11.1
Backport upstream patch to build against VTK 9.0 (rhbz#1840974)
---
diff --git a/.gitignore b/.gitignore
index 2dbeb78..7c54789 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,3 +14,4 @@
/pcl-1.8.1-fedora.tar.xz
/pcl-1.9.1-fedora.tar.xz
/pcl-1.11.0-fedora.tar.xz
+/pcl-1.11.1-fedora.tar.xz
diff --git a/4262.patch b/4262.patch
new file mode 100644
index 0000000..0ad7df6
--- /dev/null
+++ b/4262.patch
@@ -0,0 +1,3361 @@
+diff -up ./2d/CMakeLists.txt.4262 ./2d/CMakeLists.txt
+--- ./2d/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./2d/CMakeLists.txt 2021-02-21 21:32:58.319176725 -0500
+@@ -31,8 +31,6 @@ set(impl_incs
+ )
+
+ if(${VTK_FOUND})
+- set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+- include("${VTK_USE_FILE}")
+ set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkIO vtkImaging)
+ endif()
+
+diff -up ./apps/3d_rec_framework/CMakeLists.txt.4262 ./apps/3d_rec_framework/CMakeLists.txt
+--- ./apps/3d_rec_framework/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/3d_rec_framework/CMakeLists.txt 2021-02-21 21:32:58.325176750 -0500
+@@ -9,7 +9,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- include("${VTK_USE_FILE}")
+ endif()
+
+ # OpenNI found?
+diff -up ./apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h.4262 ./apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h
+--- ./apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h 2021-02-21 21:34:02.952466044 -0500
+@@ -8,6 +8,7 @@
+ #pragma once
+
+ #include <pcl/common/common.h>
++#include <pcl/visualization/vtk/pcl_vtk_compatibility.h>
+
+ #include <vtkCellArray.h>
+ #include <vtkPLYReader.h>
+@@ -74,7 +75,7 @@ randPSurface(vtkPolyData* polydata,
+
+ double A[3], B[3], C[3];
+ vtkIdType npts = 0;
+- vtkIdType* ptIds = nullptr;
++ vtkCellPtsPtr ptIds = nullptr;
+ polydata->GetCellPoints(el, npts, ptIds);
+
+ if (ptIds == nullptr)
+@@ -98,7 +99,9 @@ uniform_sampling(const vtkSmartPointer<v
+ double p1[3], p2[3], p3[3], totalArea = 0;
+ std::vector<double> cumulativeAreas(cells->GetNumberOfCells(), 0);
+ std::size_t i = 0;
+- vtkIdType npts = 0, *ptIds = nullptr;
++ vtkIdType npts = 0;
++ vtkCellPtsPtr ptIds = nullptr;
++
+ for (cells->InitTraversal(); cells->GetNextCell(npts, ptIds); i++) {
+ polydata->GetPoint(ptIds[0], p1);
+ polydata->GetPoint(ptIds[1], p2);
+diff -up ./apps/cloud_composer/CMakeLists.txt.4262 ./apps/cloud_composer/CMakeLists.txt
+--- ./apps/cloud_composer/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/CMakeLists.txt 2021-02-21 21:32:58.326176754 -0500
+@@ -14,7 +14,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- include("${VTK_USE_FILE}")
+ endif()
+
+ # QT5 Found?
+@@ -27,7 +26,7 @@ elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF
+ endif()
+
+ # QVTK?
+-if(NOT QVTK_FOUND)
++if(NOT HAVE_QVTK)
+ set(DEFAULT AUTO_OFF)
+ set(REASON "Cloud composer requires QVTK")
+ elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF")
+@@ -41,7 +40,7 @@ if("${DEFAULT}" STREQUAL "TRUE")
+ endif()
+
+ PCL_SUBSUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" ${DEFAULT} "${REASON}")
+-PCL_SUBSUBSYS_DEPEND(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" DEPS ${SUBSUBSYS_DEPS})
++PCL_SUBSUBSYS_DEPEND(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" DEPS ${SUBSUBSYS_DEPS} EXT_DEPS vtk)
+
+ PCL_ADD_DOC(${SUBSUBSYS_NAME})
+
+@@ -92,7 +91,14 @@ set(PCL_LIB_TYPE_ORIGIN ${PCL_LIB_TYPE})
+ set(PCL_LIB_TYPE STATIC)
+ QT5_WRAP_CPP(INTERFACE_HEADERS_MOC ${INTERFACE_HEADERS} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
+ PCL_ADD_LIBRARY(pcl_cc_tool_interface COMPONENT ${SUBSUBSYS_NAME} SOURCES ${INTERFACE_HEADERS} ${INTERFACE_SOURCES} ${INTERFACE_HEADERS_MOC})
+-target_link_libraries(pcl_cc_tool_interface pcl_common pcl_filters pcl_search pcl_visualization ${VTK_LIBRARIES} Qt5::Widgets)
++
++set(vtk_libs ${VTK_LIBRARIES})
++#TODO: Update when CMAKE 3.10 is available
++if (NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ set(vtk_libs VTK::GUISupportQt)
++endif()
++target_link_libraries(pcl_cc_tool_interface pcl_common pcl_filters pcl_search pcl_visualization Qt5::Widgets ${vtk_libs})
++
+ set(PCL_LIB_TYPE ${PCL_LIB_TYPE_ORIGIN})
+
+ if(APPLE)
+diff -up ./apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h.4262 ./apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h
+--- ./apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h 2021-02-21 21:32:58.326176754 -0500
+@@ -42,8 +42,15 @@
+ #include <vtkEventQtSlotConnect.h>
+
+ #include <pcl/visualization/pcl_visualizer.h>
++#include <pcl/visualization/qvtk_compatibility.h>
+ #include <pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h>
+
++
++#include <vtkSmartPointer.h>
++#include <vtkOrientationMarkerWidget.h>
++#include <vtkAxesActor.h>
++#include <vtkVersion.h>
++
+ class QItemSelection;
+ class QStandardItem;
+
+@@ -67,11 +74,12 @@ namespace pcl
+
+ void
+ setModel (ProjectModel* new_model);
++
+ ProjectModel*
+ getModel () const { return model_; }
+
+- QVTKWidget*
+- getQVTK() const {return qvtk_; }
++ PCLQVTKWidget*
++ getQVTK() const { return qvtk_; }
+
+ pcl::visualization::PCLVisualizer::Ptr
+ getPCLVisualizer () const { return vis_; }
+@@ -141,7 +149,9 @@ namespace pcl
+
+ pcl::visualization::PCLVisualizer::Ptr vis_;
+ ProjectModel* model_;
+- QVTKWidget* qvtk_;
++
++ PCLQVTKWidget* qvtk_;
++
+ vtkSmartPointer<InteractorStyleSwitch> style_switch_;
+
+ vtkSmartPointer<vtkOrientationMarkerWidget> axes_widget_;
+diff -up ./apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h.4262 ./apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h
+--- ./apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h 2021-02-21 21:32:58.326176754 -0500
+@@ -40,10 +40,17 @@
+ #include <QDebug>
+
+ #include <pcl/apps/cloud_composer/items/cloud_composer_item.h>
++
++#include <pcl/point_types.h>
++#include <pcl/point_cloud.h>
++#include <pcl/PCLPointCloud2.h>
+ #include <pcl/memory.h>
+ #include <pcl/pcl_macros.h>
+-#include <pcl/visualization/pcl_visualizer.h>
+ #include <pcl/search/kdtree.h>
++#include <pcl/visualization/point_cloud_geometry_handlers.h>
++#include <pcl/visualization/point_cloud_color_handlers.h>
++#include <pcl/visualization/pcl_visualizer.h>
++
+
+ //Typedefs to make things sane
+ using GeometryHandler = pcl::visualization::PointCloudGeometryHandler<pcl::PCLPointCloud2>;
+diff -up ./apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h.4262 ./apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h
+--- ./apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h 2021-02-21 21:32:58.326176754 -0500
+@@ -41,10 +41,9 @@
+ #include <pcl/features/fpfh.h>
+
+ #include <pcl/apps/cloud_composer/items/cloud_composer_item.h>
++#include <pcl/visualization/qvtk_compatibility.h>
+ #include <pcl/visualization/pcl_plotter.h>
+
+-class QVTKWidget;
+-
+ namespace pcl
+ {
+ namespace cloud_composer
+@@ -74,7 +73,7 @@ namespace pcl
+ pcl::PointCloud<pcl::FPFHSignature33>::Ptr fpfh_ptr_;
+ double radius_;
+ pcl::visualization::PCLPlotter::Ptr plot_;
+- QVTKWidget *qvtk_;
++ PCLQVTKWidget* qvtk_;
+ QWidget *hist_page_;
+ };
+
+diff -up ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h.4262 ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h
+--- ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h 2021-02-21 21:32:58.326176754 -0500
+@@ -39,6 +39,8 @@
+
+ #include <pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h>
+
++#include <vtkInteractorStyleTrackballActor.h>
++
+ namespace pcl
+ {
+ namespace cloud_composer
+diff -up ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h.4262 ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h
+--- ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h 2021-02-21 21:32:58.326176754 -0500
+@@ -39,12 +39,19 @@
+
+ #include <QMap>
+
+-#include <pcl/visualization/vtk.h>
+ #include <pcl/visualization/interactor_style.h>
+ #include <pcl/visualization/common/actor_map.h>
+ #include <pcl/visualization/common/ren_win_interact_map.h>
+ #include <pcl/visualization/pcl_visualizer.h>
+
++#include <vtkSmartPointer.h>
++#include <vtkAreaPicker.h>
++#include <vtkPointPicker.h>
++#include <vtkRenderWindowInteractor.h>
++#include <vtkCommand.h>
++#include <vtkRendererCollection.h>
++#include <vtkInteractorStyle.h>
++
+ class QVTKWidget;
+
+ namespace pcl
+diff -up ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h.4262 ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h
+--- ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h 2021-02-21 21:32:58.326176754 -0500
+@@ -37,7 +37,6 @@
+
+ #pragma once
+
+-#include <pcl/visualization/vtk.h>
+ #include <pcl/apps/cloud_composer/items/cloud_item.h>
+
+ namespace pcl
+diff -up ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h.4262 ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h
+--- ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h 2021-02-21 21:32:58.326176754 -0500
+@@ -39,6 +39,10 @@
+
+ #include <pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h>
+
++#include <vtkSmartPointer.h>
++#include <vtkRendererCollection.h>
++#include <vtkInteractorStyleRubberBandPick.h>
++
+ namespace pcl
+ {
+ namespace cloud_composer
+diff -up ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selected_trackball_interactor_style.h.4262 ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selected_trackball_interactor_style.h
+--- ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selected_trackball_interactor_style.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selected_trackball_interactor_style.h 2021-02-21 21:32:58.326176754 -0500
+@@ -37,6 +37,10 @@
+
+ #include <pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h>
+
++#include <vtkInteractorStyleTrackballActor.h>
++#include <vtkSmartPointer.h>
++#include <vtkMatrix4x4.h>
++
+ namespace pcl
+ {
+ namespace cloud_composer
+diff -up ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h.4262 ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h
+--- ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h 2021-02-21 21:32:58.326176754 -0500
+@@ -37,9 +37,14 @@
+
+ #pragma once
+
+-#include <pcl/visualization/vtk.h>
+ #include <pcl/apps/cloud_composer/items/cloud_item.h>
+
++#include <vtkSmartPointer.h>
++#include <vtkPolyData.h>
++#include <vtkActor.h>
++#include <vtkDataSetMapper.h>
++#include <vtkRenderer.h>
++
+ namespace pcl
+ {
+ namespace cloud_composer
+diff -up ./apps/cloud_composer/src/cloud_view.cpp.4262 ./apps/cloud_composer/src/cloud_view.cpp
+--- ./apps/cloud_composer/src/cloud_view.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/src/cloud_view.cpp 2021-02-21 21:32:58.327176758 -0500
+@@ -5,20 +5,29 @@
+ #include <pcl/apps/cloud_composer/point_selectors/selection_event.h>
+ #include <pcl/apps/cloud_composer/point_selectors/manipulation_event.h>
+
++#include <vtkGenericOpenGLRenderWindow.h>
++
+ #include <QDebug>
+
+-#include <QVTKWidget.h>
+
+ pcl::cloud_composer::CloudView::CloudView (QWidget* parent)
+ : QWidget (parent)
+ {
+- vis_.reset (new pcl::visualization::PCLVisualizer ("", false));
+- vis_->getInteractorStyle ()->setKeyboardModifier (pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
++ qvtk_ = new PCLQVTKWidget(this);
+ //Create the QVTKWidget
+- qvtk_ = new QVTKWidget (this);
+- qvtk_->SetRenderWindow (vis_->getRenderWindow ());
++#if VTK_MAJOR_VERSION > 8
++ auto renderer = vtkSmartPointer<vtkRenderer>::New();
++ auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
++ renderWindow->AddRenderer(renderer);
++ vis_.reset(new pcl::visualization::PCLVisualizer(renderer, renderWindow, "", false));
++#else
++ vis_.reset(new pcl::visualization::PCLVisualizer("", false));
++#endif // VTK_MAJOR_VERSION > 8
++ setRenderWindowCompat(*qvtk_, *(vis_->getRenderWindow()));
++ vis_->setupInteractor(getInteractorCompat(*qvtk_), getRenderWindowCompat(*qvtk_), style_switch_);
++ vis_->getInteractorStyle()->setKeyboardModifier(pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
++
+ initializeInteractorSwitch ();
+- vis_->setupInteractor (qvtk_->GetInteractor (), qvtk_->GetRenderWindow (), style_switch_);
+
+ QGridLayout *mainLayout = new QGridLayout (this);
+ mainLayout-> addWidget (qvtk_,0,0);
+@@ -28,13 +37,22 @@ pcl::cloud_composer::CloudView::CloudVie
+ : QWidget (parent)
+ {
+ model_ = model;
+- vis_.reset (new pcl::visualization::PCLVisualizer ("", false));
+- // vis_->getInteractorStyle ()->setKeyboardModifier (pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
++
++ qvtk_ = new PCLQVTKWidget(this);
+ //Create the QVTKWidget
+- qvtk_ = new QVTKWidget (this);
+- qvtk_->SetRenderWindow (vis_->getRenderWindow ());
++#if VTK_MAJOR_VERSION > 8
++ auto renderer = vtkSmartPointer<vtkRenderer>::New();
++ auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
++ renderWindow->AddRenderer(renderer);
++ vis_.reset(new pcl::visualization::PCLVisualizer(renderer, renderWindow, "", false));
++#else
++ vis_.reset(new pcl::visualization::PCLVisualizer("", false));
++#endif // VTK_MAJOR_VERSION > 8
++ setRenderWindowCompat(*qvtk_, *(vis_->getRenderWindow()));
++ vis_->setupInteractor(getInteractorCompat(*qvtk_), getRenderWindowCompat(*qvtk_), style_switch_);
++ //vis_->getInteractorStyle()->setKeyboardModifier(pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
++
+ initializeInteractorSwitch ();
+- vis_->setupInteractor (qvtk_->GetInteractor (), qvtk_->GetRenderWindow (), style_switch_);
+ setModel(model);
+
+ QGridLayout *mainLayout = new QGridLayout (this);
+@@ -57,9 +75,9 @@ pcl::cloud_composer::CloudView::setModel
+ connectSignalsAndSlots();
+ //Refresh the view
+ qvtk_->show();
+- qvtk_->update ();
++ refresh();
+
+- // vis_->addOrientationMarkerWidgetAxes (qvtk_->GetInteractor ());
++ // vis_->addOrientationMarkerWidgetAxes (getInteractorCompat(qvtk_));
+ }
+
+ void
+@@ -76,7 +94,11 @@ pcl::cloud_composer::CloudView::connectS
+ void
+ pcl::cloud_composer::CloudView::refresh ()
+ {
++#if VTK_MAJOR_VERSION > 8
++ qvtk_->renderWindow()->Render();
++#else
+ qvtk_->update ();
++#endif // VTK_MAJOR_VERSION > 8
+ }
+
+ void
+@@ -88,7 +110,7 @@ pcl::cloud_composer::CloudView::itemChan
+ {
+ item->paintView (vis_);
+ }
+- qvtk_->update ();
++ refresh();
+ }
+
+
+@@ -115,8 +137,7 @@ pcl::cloud_composer::CloudView::rowsInse
+ rowsInserted(new_item->index(),0,new_item->rowCount ()-1);
+ }
+
+- qvtk_->update ();
+-
++ refresh();
+ }
+
+ void
+@@ -143,20 +164,20 @@ pcl::cloud_composer::CloudView::rowsAbou
+ if (item_to_remove->rowCount () > 0)
+ rowsAboutToBeRemoved(item_to_remove->index(),0,item_to_remove->rowCount ()-1);
+ }
+- qvtk_->update ();
++ refresh();
+ }
+
+
+ void
+ pcl::cloud_composer::CloudView::paintEvent (QPaintEvent*)
+ {
+- qvtk_->update ();
++ refresh();
+ }
+
+ void
+ pcl::cloud_composer::CloudView::resizeEvent (QResizeEvent*)
+ {
+- qvtk_->update ();
++ refresh();
+ }
+
+ void
+@@ -186,7 +207,7 @@ pcl::cloud_composer::CloudView::selected
+ }
+ }
+ }
+- qvtk_->update ();
++ refresh();
+ }
+
+ void
+@@ -204,14 +225,14 @@ pcl::cloud_composer::CloudView::setAxisV
+ if (visible)
+ {
+ qDebug () << "Adding coordinate system!";
+- vis_->addOrientationMarkerWidgetAxes ( qvtk_->GetInteractor() );
++ vis_->addOrientationMarkerWidgetAxes(getInteractorCompat(*qvtk_));
+ }
+ else
+ {
+ vis_->removeOrientationMarkerWidgetAxes ();
+ }
+
+- qvtk_->update ();
++ refresh();
+ }
+
+ void
+@@ -224,7 +245,7 @@ pcl::cloud_composer::CloudView::addOrien
+ axes_widget_ = vtkSmartPointer<vtkOrientationMarkerWidget>::New ();
+ axes_widget_->SetOutlineColor ( 0.9300, 0.5700, 0.1300 );
+ axes_widget_->SetOrientationMarker( axes );
+- axes_widget_->SetInteractor( qvtk_->GetInteractor () );
++ axes_widget_->SetInteractor(getInteractorCompat(*qvtk_));
+ axes_widget_->SetViewport( 0.0, 0.0, 0.4, 0.4 );
+ axes_widget_->SetEnabled( 1 );
+ axes_widget_->InteractiveOn();
+@@ -244,8 +265,6 @@ pcl::cloud_composer::CloudView::removeOr
+ {
+ axes_widget_->SetEnabled (false);
+ }
+-
+-
+ }
+
+ //////// Interactor Functions
+@@ -255,7 +274,7 @@ pcl::cloud_composer::CloudView::initiali
+ {
+ style_switch_ = vtkSmartPointer<InteractorStyleSwitch>::New();
+ style_switch_->initializeInteractorStyles (vis_, model_);
+- style_switch_->SetInteractor (qvtk_->GetInteractor ());
++ style_switch_->SetInteractor(getInteractorCompat(*qvtk_));
+ style_switch_->setCurrentInteractorStyle (interactor_styles::PCL_VISUALIZER);
+
+ //Connect the events!
+diff -up ./apps/cloud_composer/src/items/fpfh_item.cpp.4262 ./apps/cloud_composer/src/items/fpfh_item.cpp
+--- ./apps/cloud_composer/src/items/fpfh_item.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/src/items/fpfh_item.cpp 2021-02-21 21:32:58.327176758 -0500
+@@ -3,8 +3,6 @@
+
+ #include <QGridLayout>
+
+-#include <QVTKWidget.h>
+-
+ pcl::cloud_composer::FPFHItem::FPFHItem (QString name, const pcl::PointCloud<pcl::FPFHSignature33>::Ptr& fpfh_ptr, double radius)
+ : CloudComposerItem (std::move(name))
+ , fpfh_ptr_ (fpfh_ptr)
+@@ -40,7 +38,7 @@ pcl::cloud_composer::FPFHItem::getInspec
+ if (!plot_)
+ {
+ plot_.reset (new pcl::visualization::PCLPlotter);
+- qvtk_ = new QVTKWidget ();
++ qvtk_ = new PCLQVTKWidget();
+ hist_page_ = new QWidget ();
+ QGridLayout *mainLayout = new QGridLayout (hist_page_);
+ mainLayout-> addWidget (qvtk_,0,0);
+@@ -49,10 +47,15 @@ pcl::cloud_composer::FPFHItem::getInspec
+ //Plot the histogram
+ plot_->addFeatureHistogram (*fpfh_ptr_, fpfh_ptr_->width, data(ItemDataRole::ITEM_ID).toString().toStdString ());
+ //Set the render window of the QVTK widget, update
+- plot_->setViewInteractor (vtkSmartPointer<vtkRenderWindowInteractor> (qvtk_->GetInteractor ()));
+- qvtk_->SetRenderWindow (plot_->getRenderWindow ());
++ plot_->setViewInteractor(getInteractorCompat(*qvtk_));
++ setRenderWindowCompat(*qvtk_, *(plot_->getRenderWindow()));
++#if VTK_MAJOR_VERSION > 8
++ qvtk_->renderWindow()->Render();
++#else
++ qvtk_->update();
++#endif // VTK_MAJOR_VERSION > 8
+ qvtk_->show ();
+- qvtk_->update ();
++
+
+ QMap <QString, QWidget*> tabs;
+ tabs.insert ("Histogram",hist_page_);
+diff -up ./apps/cloud_composer/src/point_selectors/click_trackball_interactor_style.cpp.4262 ./apps/cloud_composer/src/point_selectors/click_trackball_interactor_style.cpp
+--- ./apps/cloud_composer/src/point_selectors/click_trackball_interactor_style.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/src/point_selectors/click_trackball_interactor_style.cpp 2021-02-21 21:32:58.327176758 -0500
+@@ -4,6 +4,10 @@
+
+ #include <QDebug>
+
++
++#include <vtkObjectFactory.h> // For vtkStandardNewMacro
++#include <vtkTransform.h>
++
+ namespace pcl
+ {
+ namespace cloud_composer
+diff -up ./apps/cloud_composer/src/point_selectors/interactor_style_switch.cpp.4262 ./apps/cloud_composer/src/point_selectors/interactor_style_switch.cpp
+--- ./apps/cloud_composer/src/point_selectors/interactor_style_switch.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/src/point_selectors/interactor_style_switch.cpp 2021-02-21 21:32:58.327176758 -0500
+@@ -6,6 +6,9 @@
+
+ #include <QDebug>
+
++#include <vtkCallbackCommand.h>
++#include <vtkObjectFactory.h>
++
+ namespace pcl
+ {
+ namespace cloud_composer
+diff -up ./apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp.4262 ./apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp
+--- ./apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp 2021-02-21 21:32:58.327176758 -0500
+@@ -3,6 +3,14 @@
+
+ #include <QDebug>
+
++#include <vtkSmartPointer.h>
++#include <vtkIdFilter.h>
++#include <vtkExtractGeometry.h>
++#include <vtkVertexGlyphFilter.h>
++#include <vtkPlanes.h>
++#include <vtkAreaPicker.h>
++#include <vtkObjectFactory.h>
++
+ namespace pcl
+ {
+ namespace cloud_composer
+diff -up ./apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp.4262 ./apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp
+--- ./apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp 2021-02-21 21:32:58.327176758 -0500
+@@ -4,6 +4,15 @@
+ #include <QDebug>
+ #include <QItemSelectionModel>
+
++#include <vtkSmartPointer.h>
++#include <vtkMatrix4x4.h>
++#include <vtkLODActor.h>
++#include <vtkInteractorStyleTrackballActor.h>
++#include <vtkRenderWindowInteractor.h>
++#include <vtkTransform.h>
++#include <vtkObjectFactory.h>
++
++
+ namespace pcl
+ {
+ namespace cloud_composer
+diff -up ./apps/cloud_composer/src/project_model.cpp.4262 ./apps/cloud_composer/src/project_model.cpp
+--- ./apps/cloud_composer/src/project_model.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/cloud_composer/src/project_model.cpp 2021-02-21 21:32:58.327176758 -0500
+@@ -14,6 +14,11 @@
+ #include <QMessageBox>
+ #include <QThread>
+
++#include <vtkSmartPointer.h>
++#include <vtkImageData.h>
++#include <vtkImageReader2Factory.h>
++#include <vtkImageReader2.h>
++
+ pcl::cloud_composer::ProjectModel::ProjectModel (QObject* parent)
+ : QStandardItemModel (parent)
+ {
+diff -up ./apps/CMakeLists.txt.4262 ./apps/CMakeLists.txt
+--- ./apps/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/CMakeLists.txt 2021-02-21 21:32:58.325176750 -0500
+@@ -34,8 +34,6 @@ if(LIBUSB_1_FOUND)
+ endif()
+
+ if(VTK_FOUND)
+- include("${VTK_USE_FILE}")
+-
+ set(incs "include/pcl/${SUBSYS_NAME}/render_views_tesselated_sphere.h")
+ set(srcs "src/render_views_tesselated_sphere.cpp")
+
+@@ -60,6 +58,10 @@ if(VTK_FOUND)
+ if(QHULL_FOUND)
+ PCL_ADD_EXECUTABLE(pcl_pcd_select_object_plane COMPONENT ${SUBSYS_NAME} SOURCES src/pcd_select_object_plane.cpp)
+ target_link_libraries(pcl_pcd_select_object_plane pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features pcl_surface)
++ #TODO: Update when CMAKE 3.10 is available
++ if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ target_link_libraries(pcl_pcd_select_object_plane VTK::FiltersGeometry)
++ endif()
+ endif()
+
+ PCL_ADD_EXECUTABLE(pcl_pcd_organized_edge_detection COMPONENT ${SUBSYS_NAME} SOURCES src/pcd_organized_edge_detection.cpp)
+@@ -74,17 +76,25 @@ if(VTK_FOUND)
+ PCL_ADD_EXECUTABLE(pcl_stereo_ground_segmentation COMPONENT ${SUBSYS_NAME} SOURCES src/stereo_ground_segmentation.cpp)
+ target_link_libraries(pcl_stereo_ground_segmentation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features pcl_stereo)
+
+- if(Qt5_FOUND AND QVTK_FOUND)
++ if(Qt5_FOUND AND HAVE_QVTK)
+ # Manual registration demo
+ QT5_WRAP_UI(manual_registration_ui src/manual_registration/manual_registration.ui)
+ QT5_WRAP_CPP(manual_registration_moc include/pcl/apps/manual_registration.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
+ PCL_ADD_EXECUTABLE(pcl_manual_registration COMPONENT ${SUBSYS_NAME} SOURCES ${manual_registration_ui} ${manual_registration_moc} src/manual_registration/manual_registration.cpp BUNDLE)
+ target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface Qt5::Widgets)
++ #TODO: Update when CMAKE 3.10 is available
++ if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ target_link_libraries(pcl_manual_registration VTK::GUISupportQt)
++ endif()
+
+ QT5_WRAP_UI(pcd_video_player_ui src/pcd_video_player/pcd_video_player.ui)
+ QT5_WRAP_CPP(pcd_video_player_moc include/pcl/apps/pcd_video_player.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
+ PCL_ADD_EXECUTABLE(pcl_pcd_video_player COMPONENT ${SUBSYS_NAME} SOURCES ${pcd_video_player_ui} ${pcd_video_player_moc} src/pcd_video_player/pcd_video_player.cpp BUNDLE)
+ target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface Qt5::Widgets)
++ #TODO: Update when CMAKE 3.10 is available
++ if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ target_link_libraries(pcl_pcd_video_player VTK::GUISupportQt)
++ endif()
+ endif()
+
+ if(WITH_OPENNI)
+@@ -138,18 +148,26 @@ if(VTK_FOUND)
+ PCL_ADD_EXECUTABLE(pcl_openni_face_detector COMPONENT ${SUBSYS_NAME} SOURCES src/face_detection//openni_face_detection.cpp src/face_detection//openni_frame_source.cpp BUNDLE)
+ target_link_libraries(pcl_openni_face_detector pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree ${VTK_LIBRARIES})
+
+- if(Qt5_FOUND AND QVTK_FOUND)
+- # OpenNI Passthrough application demo
+- QT5_WRAP_UI(openni_passthrough_ui src/openni_passthrough.ui)
+- QT5_WRAP_CPP(openni_passthrough_moc include/pcl/apps/openni_passthrough.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
+- PCL_ADD_EXECUTABLE(pcl_openni_passthrough COMPONENT ${SUBSYS_NAME} SOURCES ${openni_passthrough_ui} ${openni_passthrough_moc} src/openni_passthrough.cpp)
+- target_link_libraries(pcl_openni_passthrough pcl_common pcl_io pcl_filters pcl_visualization Qt5::Widgets)
+-
+- # OpenNI Organized Connected Component application demo
+- QT5_WRAP_UI(organized_segmentation_demo_ui src/organized_segmentation_demo.ui)
+- QT5_WRAP_CPP(organized_segmentation_demo_moc include/pcl/apps/organized_segmentation_demo.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
+- PCL_ADD_EXECUTABLE(pcl_organized_segmentation_demo COMPONENT ${SUBSYS_NAME} SOURCES ${organized_segmentation_demo_ui} ${organized_segmentation_demo_moc} src/organized_segmentation_demo.cpp BUNDLE)
+- target_link_libraries(pcl_organized_segmentation_demo pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface Qt5::Widgets)
++ if(Qt5_FOUND AND HAVE_QVTK)
++ # OpenNI Passthrough application demo
++ QT5_WRAP_UI(openni_passthrough_ui src/openni_passthrough.ui)
++ QT5_WRAP_CPP(openni_passthrough_moc include/pcl/apps/openni_passthrough.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
++ PCL_ADD_EXECUTABLE(pcl_openni_passthrough COMPONENT ${SUBSYS_NAME} SOURCES ${openni_passthrough_ui} ${openni_passthrough_moc} src/openni_passthrough.cpp)
++ target_link_libraries(pcl_openni_passthrough pcl_common pcl_io pcl_filters pcl_visualization Qt5::Widgets)
++ #TODO: Update when CMAKE 3.10 is available
++ if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ target_link_libraries(pcl_openni_passthrough VTK::GUISupportQt)
++ endif()
++
++ # OpenNI Organized Connected Component application demo
++ QT5_WRAP_UI(organized_segmentation_demo_ui src/organized_segmentation_demo.ui)
++ QT5_WRAP_CPP(organized_segmentation_demo_moc include/pcl/apps/organized_segmentation_demo.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
++ PCL_ADD_EXECUTABLE(pcl_organized_segmentation_demo COMPONENT ${SUBSYS_NAME} SOURCES ${organized_segmentation_demo_ui} ${organized_segmentation_demo_moc} src/organized_segmentation_demo.cpp BUNDLE)
++ target_link_libraries(pcl_organized_segmentation_demo pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface Qt5::Widgets)
++ #TODO: Update when CMAKE 3.10 is available
++ if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ target_link_libraries(pcl_organized_segmentation_demo VTK::GUISupportQt)
++ endif()
+ endif()
+
+ if(QHULL_FOUND)
+diff -up ./apps/include/pcl/apps/manual_registration.h.4262 ./apps/include/pcl/apps/manual_registration.h
+--- ./apps/include/pcl/apps/manual_registration.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/include/pcl/apps/manual_registration.h 2021-02-21 21:32:58.327176758 -0500
+@@ -106,6 +106,9 @@ public:
+ DstPointPickCallback(const pcl::visualization::PointPickingEvent& event, void*);
+
+ protected:
++ void
++ refreshView();
++
+ pcl::visualization::PCLVisualizer::Ptr vis_src_;
+ pcl::visualization::PCLVisualizer::Ptr vis_dst_;
+
+diff -up ./apps/include/pcl/apps/openni_passthrough.h.4262 ./apps/include/pcl/apps/openni_passthrough.h
+--- ./apps/include/pcl/apps/openni_passthrough.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/include/pcl/apps/openni_passthrough.h 2021-02-21 21:32:58.327176758 -0500
+@@ -86,6 +86,9 @@ public:
+ cloud_cb(const CloudConstPtr& cloud);
+
+ protected:
++ void
++ refreshView();
++
+ pcl::visualization::PCLVisualizer::Ptr vis_;
+ pcl::OpenNIGrabber& grabber_;
+ std::string device_id_;
+diff -up ./apps/include/pcl/apps/organized_segmentation_demo.h.4262 ./apps/include/pcl/apps/organized_segmentation_demo.h
+--- ./apps/include/pcl/apps/organized_segmentation_demo.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/include/pcl/apps/organized_segmentation_demo.h 2021-02-21 21:32:58.327176758 -0500
+@@ -189,4 +189,8 @@ public Q_SLOTS:
+ private Q_SLOTS:
+ void
+ timeoutSlot();
++
++private:
++ void
++ refreshView();
+ };
+diff -up ./apps/include/pcl/apps/pcd_video_player.h.4262 ./apps/include/pcl/apps/pcd_video_player.h
+--- ./apps/include/pcl/apps/pcd_video_player.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/include/pcl/apps/pcd_video_player.h 2021-02-21 21:32:58.328176763 -0500
+@@ -53,7 +53,6 @@
+ #include <QMainWindow>
+ #include <QMutex>
+ #include <QTimer>
+-#include <ui_pcd_video_player.h>
+
+ #include <ctime>
+ #include <iostream>
+@@ -93,6 +92,9 @@ public:
+ ~PCDVideoPlayer() {}
+
+ protected:
++ void
++ refreshView();
++
+ pcl::visualization::PCLVisualizer::Ptr vis_;
+ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_;
+
+diff -up ./apps/modeler/CMakeLists.txt.4262 ./apps/modeler/CMakeLists.txt
+--- ./apps/modeler/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/modeler/CMakeLists.txt 2021-02-21 21:32:58.328176763 -0500
+@@ -10,8 +10,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+- include("${VTK_USE_FILE}")
+ endif()
+
+ # QT5 Found?
+@@ -24,7 +22,7 @@ elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF
+ endif()
+
+ # QVTK?
+-if(NOT QVTK_FOUND)
++if(NOT HAVE_QVTK)
+ set(DEFAULT AUTO_OFF)
+ set(REASON "VTK was not built with Qt support.")
+ elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF")
+@@ -37,8 +35,8 @@ if(${DEFAULT} STREQUAL "TRUE")
+ set(DEFAULT FALSE)
+ endif()
+
+-PCL_SUBSUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+-PCL_SUBSUBSYS_DEPEND(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS vtk)
++PCL_SUBSUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" ${DEFAULT} "${REASON}")
++PCL_SUBSUBSYS_DEPEND(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" DEPS ${SUBSUBSYS_DEPS} EXT_DEPS vtk)
+
+ PCL_ADD_DOC("${SUBSUBSYS_NAME}")
+
+@@ -140,6 +138,10 @@ set_source_files_properties(${srcs} PROP
+ set(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
+ PCL_ADD_EXECUTABLE(${EXE_NAME} COMPONENT ${SUBSUBSYS_NAME} SOURCES ${ui_srcs} ${moc_srcs} ${resource_srcs} ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_kdtree pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search Qt5::Widgets)
++#TODO: Update when CMAKE 3.10 is available
++if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ target_link_libraries("${EXE_NAME}" VTK::GUISupportQt)
++endif()
+
+ # Put the ui in the windows project file
+ if(("${CMAKE_BUILD_TOOL}" MATCHES "msdev") OR("${CMAKE_BUILD_TOOL}" MATCHES "devenv"))
+diff -up ./apps/modeler/include/pcl/apps/modeler/render_window.h.4262 ./apps/modeler/include/pcl/apps/modeler/render_window.h
+--- ./apps/modeler/include/pcl/apps/modeler/render_window.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/modeler/include/pcl/apps/modeler/render_window.h 2021-02-21 21:32:58.328176763 -0500
+@@ -35,8 +35,7 @@
+ */
+
+ #pragma once
+-
+-#include <QVTKWidget.h>
++#include <pcl/visualization/qvtk_compatibility.h>
+
+ #include <vtkSmartPointer.h>
+
+@@ -47,7 +46,7 @@ namespace modeler {
+
+ class RenderWindowItem;
+
+-class RenderWindow : public QVTKWidget {
++class RenderWindow : public PCLQVTKWidget {
+ public:
+ RenderWindow(RenderWindowItem* render_window_item,
+ QWidget* parent = nullptr,
+diff -up ./apps/modeler/src/cloud_mesh.cpp.4262 ./apps/modeler/src/cloud_mesh.cpp
+--- ./apps/modeler/src/cloud_mesh.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/modeler/src/cloud_mesh.cpp 2021-02-21 21:32:58.328176763 -0500
+@@ -198,7 +198,7 @@ pcl::modeler::CloudMesh::updateVtkPolygo
+ if (cloud_->is_dense) {
+ for (const auto& polygon : polygons_) {
+ vtk_polygons_->InsertNextCell(polygon.vertices.size());
+- for (const unsigned int& vertex : polygon.vertices)
++ for (const auto& vertex : polygon.vertices)
+ vtk_polygons_->InsertCellPoint(vertex);
+ }
+ }
+@@ -208,7 +208,7 @@ pcl::modeler::CloudMesh::updateVtkPolygo
+
+ for (const auto& polygon : polygons_) {
+ vtk_polygons_->InsertNextCell(polygon.vertices.size());
+- for (const unsigned int& vertex : polygon.vertices)
++ for (const auto& vertex : polygon.vertices)
+ vtk_polygons_->InsertCellPoint((*indices)[vertex]);
+ }
+ }
+diff -up ./apps/modeler/src/cloud_mesh_item.cpp.4262 ./apps/modeler/src/cloud_mesh_item.cpp
+--- ./apps/modeler/src/cloud_mesh_item.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/modeler/src/cloud_mesh_item.cpp 2021-02-21 21:32:58.328176763 -0500
+@@ -156,12 +156,13 @@ void
+ pcl::modeler::CloudMeshItem::createChannels()
+ {
+ RenderWindowItem* render_window_item = dynamic_cast<RenderWindowItem*>(parent());
+- addChild(new PointsActorItem(
+- this, cloud_mesh_, render_window_item->getRenderWindow()->GetRenderWindow()));
+- addChild(new NormalsActorItem(
+- this, cloud_mesh_, render_window_item->getRenderWindow()->GetRenderWindow()));
+- addChild(new SurfaceActorItem(
+- this, cloud_mesh_, render_window_item->getRenderWindow()->GetRenderWindow()));
++ vtkRenderWindow* win =
++ getRenderWindowCompat(*(render_window_item->getRenderWindow()));
++
++ addChild(new PointsActorItem(this, cloud_mesh_, win));
++ addChild(new NormalsActorItem(this, cloud_mesh_, win));
++ addChild(new SurfaceActorItem(this, cloud_mesh_, win));
++
+ for (int i = 0, i_end = childCount(); i < i_end; ++i) {
+ ChannelActorItem* child_item = dynamic_cast<ChannelActorItem*>(child(i));
+ child_item->init();
+@@ -242,7 +243,7 @@ pcl::modeler::CloudMeshItem::updateRende
+ for (int i = 0, i_end = childCount(); i < i_end; ++i) {
+ ChannelActorItem* child_item = dynamic_cast<ChannelActorItem*>(child(i));
+ child_item->switchRenderWindow(
+- render_window_item->getRenderWindow()->GetRenderWindow());
++ getRenderWindowCompat(*render_window_item->getRenderWindow()));
+ }
+
+ render_window_item->getRenderWindow()->updateAxes();
+diff -up ./apps/modeler/src/render_window.cpp.4262 ./apps/modeler/src/render_window.cpp
+--- ./apps/modeler/src/render_window.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/modeler/src/render_window.cpp 2021-02-21 21:32:58.328176763 -0500
+@@ -52,7 +52,7 @@
+ pcl::modeler::RenderWindow::RenderWindow(RenderWindowItem* render_window_item,
+ QWidget* parent,
+ Qt::WindowFlags flags)
+-: QVTKWidget(parent, flags)
++: PCLQVTKWidget(parent, flags)
+ , axes_(vtkSmartPointer<vtkCubeAxesActor>::New())
+ , render_window_item_(render_window_item)
+ {
+@@ -76,7 +76,7 @@ pcl::modeler::RenderWindow::~RenderWindo
+ void
+ pcl::modeler::RenderWindow::initRenderer()
+ {
+- vtkSmartPointer<vtkRenderWindow> win = GetRenderWindow();
++ vtkSmartPointer<vtkRenderWindow> win = getRenderWindowCompat(*this);
+ vtkSmartPointer<vtkRenderer> renderer = vtkSmartPointer<vtkRenderer>::New();
+ win->AddRenderer(renderer);
+
+@@ -105,7 +105,7 @@ pcl::modeler::RenderWindow::focusInEvent
+ dynamic_cast<SceneTree*>(render_window_item_->treeWidget())
+ ->selectRenderWindowItem(render_window_item_);
+
+- QVTKWidget::focusInEvent(event);
++ PCLQVTKWidget::focusInEvent(event);
+ }
+
+ //////////////////////////////////////////////////////////////////////////////////////////////
+@@ -130,7 +130,7 @@ pcl::modeler::RenderWindow::setTitle(con
+ void
+ pcl::modeler::RenderWindow::render()
+ {
+- GetRenderWindow()->Render();
++ getRenderWindowCompat(*this)->Render();
+ }
+
+ //////////////////////////////////////////////////////////////////////////////////////////////
+@@ -138,9 +138,11 @@ void
+ pcl::modeler::RenderWindow::resetCamera()
+ {
+ double bounds[6];
+- GetRenderWindow()->GetRenderers()->GetFirstRenderer()->ComputeVisiblePropBounds(
+- bounds);
+- GetRenderWindow()->GetRenderers()->GetFirstRenderer()->ResetCamera(bounds);
++ getRenderWindowCompat(*this)
++ ->GetRenderers()
++ ->GetFirstRenderer()
++ ->ComputeVisiblePropBounds(bounds);
++ getRenderWindowCompat(*this)->GetRenderers()->GetFirstRenderer()->ResetCamera(bounds);
+ render();
+ }
+
+@@ -148,14 +150,16 @@ pcl::modeler::RenderWindow::resetCamera(
+ void
+ pcl::modeler::RenderWindow::getBackground(double& r, double& g, double& b)
+ {
+- GetRenderWindow()->GetRenderers()->GetFirstRenderer()->GetBackground(r, g, b);
++ getRenderWindowCompat(*this)->GetRenderers()->GetFirstRenderer()->GetBackground(
++ r, g, b);
+ }
+
+ //////////////////////////////////////////////////////////////////////////////////////////////
+ void
+ pcl::modeler::RenderWindow::setBackground(double r, double g, double b)
+ {
+- GetRenderWindow()->GetRenderers()->GetFirstRenderer()->SetBackground(r, g, b);
++ getRenderWindowCompat(*this)->GetRenderers()->GetFirstRenderer()->SetBackground(
++ r, g, b);
+ }
+
+ //////////////////////////////////////////////////////////////////////////////////////////////
+@@ -165,7 +169,7 @@ pcl::modeler::RenderWindow::updateAxes()
+ vtkBoundingBox bb;
+
+ vtkActorCollection* actors =
+- GetRenderWindow()->GetRenderers()->GetFirstRenderer()->GetActors();
++ getRenderWindowCompat(*this)->GetRenderers()->GetFirstRenderer()->GetActors();
+
+ actors->InitTraversal();
+ for (int i = 0, i_end = actors->GetNumberOfItems(); i < i_end; ++i) {
+@@ -181,8 +185,10 @@ pcl::modeler::RenderWindow::updateAxes()
+ double bounds[6];
+ bb.GetBounds(bounds);
+ axes_->SetBounds(bounds);
+- axes_->SetCamera(
+- GetRenderWindow()->GetRenderers()->GetFirstRenderer()->GetActiveCamera());
++ axes_->SetCamera(getRenderWindowCompat(*this)
++ ->GetRenderers()
++ ->GetFirstRenderer()
++ ->GetActiveCamera());
+ }
+
+ //////////////////////////////////////////////////////////////////////////////////////////////
+@@ -190,7 +196,8 @@ void
+ pcl::modeler::RenderWindow::setShowAxes(bool flag)
+ {
+ if (flag)
+- GetRenderWindow()->GetRenderers()->GetFirstRenderer()->AddActor(axes_);
++ getRenderWindowCompat(*this)->GetRenderers()->GetFirstRenderer()->AddActor(axes_);
+ else
+- GetRenderWindow()->GetRenderers()->GetFirstRenderer()->RemoveActor(axes_);
++ getRenderWindowCompat(*this)->GetRenderers()->GetFirstRenderer()->RemoveActor(
++ axes_);
+ }
+diff -up ./apps/src/manual_registration/manual_registration.cpp.4262 ./apps/src/manual_registration/manual_registration.cpp
+--- ./apps/src/manual_registration/manual_registration.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/src/manual_registration/manual_registration.cpp 2021-02-21 21:32:58.328176763 -0500
+@@ -48,6 +48,7 @@
+ #include <vtkCamera.h>
+ #include <vtkRenderWindow.h>
+ #include <vtkRendererCollection.h>
++#include <vtkGenericOpenGLRenderWindow.h>
+
+ using namespace pcl;
+
+@@ -66,29 +67,46 @@ ManualRegistration::ManualRegistration()
+ this->setWindowTitle("PCL Manual Registration");
+
+ // Set up the source window
++#if VTK_MAJOR_VERSION > 8
++ auto renderer_src = vtkSmartPointer<vtkRenderer>::New();
++ auto renderWindow_src = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
++ renderWindow_src->AddRenderer(renderer_src);
++ vis_src_.reset(new pcl::visualization::PCLVisualizer(renderer_src, renderWindow_src, "", false));
++#else
+ vis_src_.reset(new pcl::visualization::PCLVisualizer("", false));
+- ui_->qvtk_widget_src->SetRenderWindow(vis_src_->getRenderWindow());
+- vis_src_->setupInteractor(ui_->qvtk_widget_src->GetInteractor(),
+- ui_->qvtk_widget_src->GetRenderWindow());
++#endif // VTK_MAJOR_VERSION > 8
++ setRenderWindowCompat(*(ui_->qvtk_widget_src),*(vis_src_->getRenderWindow()));
++ vis_src_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget_src)),
++ getRenderWindowCompat(*(ui_->qvtk_widget_src)));
++
+ vis_src_->getInteractorStyle()->setKeyboardModifier(
+ pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
+- ui_->qvtk_widget_src->update();
+
+ vis_src_->registerPointPickingCallback(&ManualRegistration::SourcePointPickCallback,
+ *this);
+
+ // Set up the destination window
++#if VTK_MAJOR_VERSION > 8
++ auto renderer_dst = vtkSmartPointer<vtkRenderer>::New();
++ auto renderWindow_dst = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
++ renderWindow_dst->AddRenderer(renderer_dst);
++ vis_dst_.reset(new pcl::visualization::PCLVisualizer(renderer_dst, renderWindow_dst, "", false));
++#else
+ vis_dst_.reset(new pcl::visualization::PCLVisualizer("", false));
+- ui_->qvtk_widget_dst->SetRenderWindow(vis_dst_->getRenderWindow());
+- vis_dst_->setupInteractor(ui_->qvtk_widget_dst->GetInteractor(),
+- ui_->qvtk_widget_dst->GetRenderWindow());
++#endif // VTK_MAJOR_VERSION > 8
++ setRenderWindowCompat(*(ui_->qvtk_widget_dst), *(vis_dst_->getRenderWindow()));
++ vis_dst_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget_dst)),
++ getRenderWindowCompat(*(ui_->qvtk_widget_dst)));
++
++
+ vis_dst_->getInteractorStyle()->setKeyboardModifier(
+- pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
+- ui_->qvtk_widget_dst->update();
++ pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
+
+ vis_dst_->registerPointPickingCallback(&ManualRegistration::DstPointPickCallback,
+ *this);
+-
++ // Render view
++ refreshView();
++
+ // Connect all buttons
+ connect(ui_->confirmSrcPointButton,
+ SIGNAL(clicked()),
+@@ -236,8 +254,8 @@ ManualRegistration::orthoChanged(int sta
+ ->GetActiveCamera()
+ ->SetParallelProjection(1);
+ }
+- ui_->qvtk_widget_src->update();
+- ui_->qvtk_widget_dst->update();
++
++ refreshView();
+ }
+
+ // TODO
+@@ -274,8 +292,17 @@ ManualRegistration::timeoutSlot()
+ }
+ cloud_dst_modified_ = false;
+ }
+- ui_->qvtk_widget_src->update();
++ refreshView();
++}
++
++void
++ManualRegistration::refreshView()
++{
++#if VTK_MAJOR_VERSION > 8
++ ui_->qvtk_widget_dst->renderWindow()->Render();
++#else
+ ui_->qvtk_widget_dst->update();
++#endif // VTK_MAJOR_VERSION > 8
+ }
+
+ void
+diff -up ./apps/src/manual_registration/manual_registration.ui.4262 ./apps/src/manual_registration/manual_registration.ui
+--- ./apps/src/manual_registration/manual_registration.ui.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/src/manual_registration/manual_registration.ui 2021-02-21 21:32:58.328176763 -0500
+@@ -37,7 +37,7 @@
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="3">
+- <widget class="QVTKWidget" name="qvtk_widget_src">
++ <widget class="PCLQVTKWidget" name="qvtk_widget_src">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>255</horstretch>
+@@ -133,7 +133,7 @@
+ </layout>
+ </item>
+ <item row="0" column="7">
+- <widget class="QVTKWidget" name="qvtk_widget_dst">
++ <widget class="PCLQVTKWidget" name="qvtk_widget_dst">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>255</horstretch>
+@@ -161,9 +161,9 @@
+ </widget>
+ <customwidgets>
+ <customwidget>
+- <class>QVTKWidget</class>
+- <extends>QWidget</extends>
+- <header>QVTKWidget.h</header>
++ <class>PCLQVTKWidget</class>
++ <extends>QOpenGLWidget</extends>
++ <header location="global">pcl/visualization/qvtk_compatibility.h</header>
+ </customwidget>
+ </customwidgets>
+ <resources/>
+diff -up ./apps/src/openni_octree_compression.cpp.4262 ./apps/src/openni_octree_compression.cpp
+--- ./apps/src/openni_octree_compression.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/src/openni_octree_compression.cpp 2021-02-21 21:32:58.329176767 -0500
+@@ -382,7 +382,7 @@ main(int argc, char** argv)
+ if (!bServerFileMode) {
+ if (bEnDecode) {
+ // ENCODING
+- ofstream compressedPCFile;
++ std::ofstream compressedPCFile;
+ compressedPCFile.open(fileName.c_str(), std::ios::out | std::ios::trunc | std::ios::binary);
+
+ if (!bShowInputCloud) {
+diff -up ./apps/src/openni_passthrough.cpp.4262 ./apps/src/openni_passthrough.cpp
+--- ./apps/src/openni_passthrough.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/src/openni_passthrough.cpp 2021-02-21 21:33:36.686343882 -0500
+@@ -44,9 +44,13 @@
+ #include <QObject>
+
+ #include <vtkRenderWindow.h>
++#include <vtkRendererCollection.h>
++#include <vtkGenericOpenGLRenderWindow.h>
+
+ #include <thread>
+
++#include <ui_openni_passthrough.h>
++
+ using namespace std::chrono_literals;
+
+ ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+@@ -61,13 +65,21 @@ OpenNIPassthrough::OpenNIPassthrough(pcl
+ ui_->setupUi(this);
+
+ this->setWindowTitle("PCL OpenNI PassThrough Viewer");
++ //Create the QVTKWidget
++#if VTK_MAJOR_VERSION > 8
++ auto renderer = vtkSmartPointer<vtkRenderer>::New();
++ auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
++ renderWindow->AddRenderer(renderer);
++ vis_.reset(new pcl::visualization::PCLVisualizer(renderer, renderWindow, "", false));
++#else
+ vis_.reset(new pcl::visualization::PCLVisualizer("", false));
+- ui_->qvtk_widget->SetRenderWindow(vis_->getRenderWindow());
+- vis_->setupInteractor(ui_->qvtk_widget->GetInteractor(),
+- ui_->qvtk_widget->GetRenderWindow());
+- vis_->getInteractorStyle()->setKeyboardModifier(
+- pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
+- ui_->qvtk_widget->update();
++#endif // VTK_MAJOR_VERSION > 8
++ setRenderWindowCompat(*(ui_->qvtk_widget),*(vis_->getRenderWindow()));
++ vis_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget)), getRenderWindowCompat(*(ui_->qvtk_widget)));
++
++ vis_->getInteractorStyle()->setKeyboardModifier(pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
++
++ refreshView();
+
+ // Start the OpenNI data acquision
+ std::function<void(const CloudConstPtr&)> f = [this](const CloudConstPtr& cloud) {
+@@ -125,6 +137,16 @@ OpenNIPassthrough::timeoutSlot()
+ ui_->qvtk_widget->update();
+ }
+
++void
++OpenNIPassthrough::refreshView()
++{
++#if VTK_MAJOR_VERSION > 8
++ ui_->qvtk_widget->renderWindow()->Render();
++#else
++ ui_->qvtk_widget->update();
++#endif // VTK_MAJOR_VERSION > 8
++}
++
+ int
+ main(int argc, char** argv)
+ {
+diff -up ./apps/src/openni_passthrough.ui.4262 ./apps/src/openni_passthrough.ui
+--- ./apps/src/openni_passthrough.ui.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/src/openni_passthrough.ui 2021-02-21 21:32:58.329176767 -0500
+@@ -37,7 +37,7 @@
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+- <widget class="QVTKWidget" name="qvtk_widget">
++ <widget class="PCLQVTKWidget" name="qvtk_widget">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>255</horstretch>
+@@ -94,9 +94,9 @@
+ </widget>
+ <customwidgets>
+ <customwidget>
+- <class>QVTKWidget</class>
+- <extends>QWidget</extends>
+- <header>QVTKWidget.h</header>
++ <class>PCLQVTKWidget</class>
++ <extends>QOpenGLWidget</extends>
++ <header location="global">pcl/visualization/qvtk_compatibility.h</header>
+ </customwidget>
+ </customwidgets>
+ <resources>
+diff -up ./apps/src/organized_segmentation_demo.cpp.4262 ./apps/src/organized_segmentation_demo.cpp
+--- ./apps/src/organized_segmentation_demo.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/src/organized_segmentation_demo.cpp 2021-02-21 21:32:58.329176767 -0500
+@@ -12,6 +12,8 @@
+ #include <QObject>
+
+ #include <vtkRenderWindow.h>
++#include <vtkRendererCollection.h>
++#include <vtkGenericOpenGLRenderWindow.h>
+
+ // #include <boost/filesystem.hpp> // for boost::filesystem::directory_iterator
+ #include <boost/signals2/connection.hpp> // for boost::signals2::connection
+@@ -204,13 +206,23 @@ OrganizedSegmentationDemo::OrganizedSegm
+ ui_->setupUi(this);
+
+ this->setWindowTitle("PCL Organized Connected Component Segmentation Demo");
++
++#if VTK_MAJOR_VERSION > 8
++ auto renderer = vtkSmartPointer<vtkRenderer>::New();
++ auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
++ renderWindow->AddRenderer(renderer);
++ vis_.reset(new pcl::visualization::PCLVisualizer(renderer, renderWindow, "", false));
++#else
+ vis_.reset(new pcl::visualization::PCLVisualizer("", false));
+- ui_->qvtk_widget->SetRenderWindow(vis_->getRenderWindow());
+- vis_->setupInteractor(ui_->qvtk_widget->GetInteractor(),
+- ui_->qvtk_widget->GetRenderWindow());
++#endif // VTK_MAJOR_VERSION > 8
++ setRenderWindowCompat(*(ui_->qvtk_widget),*(vis_->getRenderWindow()));
++ vis_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget)), getRenderWindowCompat(*(ui_->qvtk_widget)));
++
++ refreshView();
++
+ vis_->getInteractorStyle()->setKeyboardModifier(
+ pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
+- ui_->qvtk_widget->update();
++
+
+ std::function<void(const CloudConstPtr&)> f = [this](const CloudConstPtr& cloud) {
+ cloud_cb(cloud);
+@@ -309,6 +321,16 @@ OrganizedSegmentationDemo::OrganizedSegm
+ }
+
+ void
++OrganizedSegmentationDemo::refreshView()
++{
++#if VTK_MAJOR_VERSION > 8
++ ui_->qvtk_widget->renderWindow()->Render();
++#else
++ ui_->qvtk_widget->update();
++#endif // VTK_MAJOR_VERSION > 8
++}
++
++void
+ OrganizedSegmentationDemo::cloud_cb(const CloudConstPtr& cloud)
+ {
+ if (!capture_)
+@@ -440,8 +462,7 @@ OrganizedSegmentationDemo::timeoutSlot()
+ data_modified_ = false;
+ }
+ }
+-
+- ui_->qvtk_widget->update();
++ refreshView();
+ }
+
+ void
+diff -up ./apps/src/organized_segmentation_demo.ui.4262 ./apps/src/organized_segmentation_demo.ui
+--- ./apps/src/organized_segmentation_demo.ui.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/src/organized_segmentation_demo.ui 2021-02-21 21:32:58.329176767 -0500
+@@ -37,7 +37,7 @@
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="3">
+- <widget class="QVTKWidget" name="qvtk_widget">
++ <widget class="PCLQVTKWidget" name="qvtk_widget">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>255</horstretch>
+@@ -214,9 +214,9 @@
+ </widget>
+ <customwidgets>
+ <customwidget>
+- <class>QVTKWidget</class>
+- <extends>QWidget</extends>
+- <header>QVTKWidget.h</header>
++ <class>PCLQVTKWidget</class>
++ <extends>QOpenGLWidget</extends>
++ <header location="global">pcl/visualization/qvtk_compatibility.h</header>
+ </customwidget>
+ </customwidgets>
+ <resources>
+diff -up ./apps/src/pcd_video_player/pcd_video_player.cpp.4262 ./apps/src/pcd_video_player/pcd_video_player.cpp
+--- ./apps/src/pcd_video_player/pcd_video_player.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/src/pcd_video_player/pcd_video_player.cpp 2021-02-21 21:32:58.329176767 -0500
+@@ -35,6 +35,8 @@
+ *
+ */
+
++#include <ui_pcd_video_player.h>
++
+ #include <pcl/apps/pcd_video_player.h>
+ #include <pcl/io/pcd_io.h>
+ #include <pcl/point_types.h>
+@@ -51,6 +53,7 @@
+ #include <vtkCamera.h>
+ #include <vtkRenderWindow.h>
+ #include <vtkRendererCollection.h>
++#include <vtkGenericOpenGLRenderWindow.h>
+
+ #include <fstream>
+ #include <iostream>
+@@ -80,14 +83,21 @@ PCDVideoPlayer::PCDVideoPlayer()
+ // Setup the cloud pointer
+ cloud_.reset(new pcl::PointCloud<pcl::PointXYZRGBA>);
+
+- // Set up the qvtk window
++ //Create the QVTKWidget
++#if VTK_MAJOR_VERSION > 8
++ auto renderer = vtkSmartPointer<vtkRenderer>::New();
++ auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
++ renderWindow->AddRenderer(renderer);
++ vis_.reset(new pcl::visualization::PCLVisualizer(renderer, renderWindow, "", false));
++#else
+ vis_.reset(new pcl::visualization::PCLVisualizer("", false));
+- ui_->qvtkWidget->SetRenderWindow(vis_->getRenderWindow());
+- vis_->setupInteractor(ui_->qvtkWidget->GetInteractor(),
+- ui_->qvtkWidget->GetRenderWindow());
+- vis_->getInteractorStyle()->setKeyboardModifier(
+- pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
+- ui_->qvtkWidget->update();
++#endif // VTK_MAJOR_VERSION > 8
++ setRenderWindowCompat(*(ui_->qvtk_widget),*(vis_->getRenderWindow()));
++ vis_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget)), getRenderWindowCompat(*(ui_->qvtk_widget)));
++
++ vis_->getInteractorStyle()->setKeyboardModifier(pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
++
++ refreshView();
+
+ // Connect all buttons
+ connect(ui_->playButton, SIGNAL(clicked()), this, SLOT(playButtonPressed()));
+@@ -258,7 +268,8 @@ PCDVideoPlayer::timeoutSlot()
+ }
+ cloud_modified_ = false;
+ }
+- ui_->qvtkWidget->update();
++
++ refreshView();
+ }
+
+ void
+@@ -270,6 +281,16 @@ PCDVideoPlayer::indexSliderValueChanged(
+ }
+
+ void
++PCDVideoPlayer::refreshView()
++{
++#if VTK_MAJOR_VERSION > 8
++ ui_->qvtk_widget->renderWindow()->Render();
++#else
++ ui_->qvtk_widget->update();
++#endif // VTK_MAJOR_VERSION > 8
++}
++
++void
+ print_usage()
+ {
+ // clang-format off
+diff -up ./apps/src/pcd_video_player/pcd_video_player.ui.4262 ./apps/src/pcd_video_player/pcd_video_player.ui
+--- ./apps/src/pcd_video_player/pcd_video_player.ui.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/src/pcd_video_player/pcd_video_player.ui 2021-02-21 21:32:58.329176767 -0500
+@@ -14,122 +14,108 @@
+ <string>MainWindow</string>
+ </property>
+ <widget class="QWidget" name="centralwidget">
+- <widget class="QWidget" name="verticalLayoutWidget">
+- <property name="geometry">
+- <rect>
+- <x>339</x>
+- <y>10</y>
+- <width>451</width>
+- <height>531</height>
+- </rect>
+- </property>
+- <layout class="QVBoxLayout" name="verticalLayout">
+- <item>
+- <widget class="QVTKWidget" name="qvtkWidget"/>
+- </item>
+- <item>
+- <widget class="QSlider" name="indexSlider">
+- <property name="orientation">
+- <enum>Qt::Horizontal</enum>
+- </property>
+- </widget>
+- </item>
+- </layout>
+- </widget>
+- <widget class="QWidget" name="verticalLayoutWidget_2">
+- <property name="geometry">
+- <rect>
+- <x>9</x>
+- <y>9</y>
+- <width>321</width>
+- <height>531</height>
+- </rect>
+- </property>
+- <layout class="QVBoxLayout" name="verticalLayout_2">
+- <item>
+- <widget class="QPushButton" name="selectFilesButton">
+- <property name="text">
+- <string>Select PCD Files</string>
+- </property>
+- </widget>
+- </item>
+- <item>
+- <widget class="QPushButton" name="selectFolderButton">
+- <property name="text">
+- <string>Select Folder</string>
+- </property>
+- </widget>
+- </item>
+- <item>
+- <widget class="Line" name="line_2">
+- <property name="orientation">
+- <enum>Qt::Horizontal</enum>
+- </property>
+- </widget>
+- </item>
+- <item>
+- <spacer name="verticalSpacer">
+- <property name="orientation">
+- <enum>Qt::Vertical</enum>
+- </property>
+- <property name="sizeHint" stdset="0">
+- <size>
+- <width>20</width>
+- <height>40</height>
+- </size>
+- </property>
+- </spacer>
+- </item>
+- <item>
+- <widget class="Line" name="line_3">
+- <property name="orientation">
+- <enum>Qt::Horizontal</enum>
+- </property>
+- </widget>
+- </item>
+- <item>
+- <layout class="QHBoxLayout" name="horizontalLayout">
+- <item>
+- <widget class="QToolButton" name="backButton">
+- <property name="text">
+- <string>...</string>
+- </property>
+- <property name="arrowType">
+- <enum>Qt::LeftArrow</enum>
+- </property>
+- </widget>
+- </item>
+- <item>
+- <widget class="QToolButton" name="stopButton">
+- <property name="text">
+- <string>Stop</string>
+- </property>
+- </widget>
+- </item>
+- <item>
+- <widget class="QToolButton" name="playButton">
+- <property name="text">
+- <string>Play</string>
+- </property>
+- <property name="arrowType">
+- <enum>Qt::NoArrow</enum>
+- </property>
+- </widget>
+- </item>
+- <item>
+- <widget class="QToolButton" name="nextButton">
+- <property name="text">
+- <string>...</string>
+- </property>
+- <property name="arrowType">
+- <enum>Qt::RightArrow</enum>
+- </property>
+- </widget>
+- </item>
+- </layout>
+- </item>
+- </layout>
+- </widget>
++ <layout class="QHBoxLayout" name="horizontalLayout_2">
++ <item>
++ <layout class="QVBoxLayout" name="verticalLayout_2">
++ <item>
++ <widget class="QPushButton" name="selectFilesButton">
++ <property name="text">
++ <string>Select PCD Files</string>
++ </property>
++ </widget>
++ </item>
++ <item>
++ <widget class="QPushButton" name="selectFolderButton">
++ <property name="text">
++ <string>Select Folder</string>
++ </property>
++ </widget>
++ </item>
++ <item>
++ <widget class="Line" name="line_2">
++ <property name="orientation">
++ <enum>Qt::Horizontal</enum>
++ </property>
++ </widget>
++ </item>
++ <item>
++ <spacer name="verticalSpacer">
++ <property name="orientation">
++ <enum>Qt::Vertical</enum>
++ </property>
++ <property name="sizeHint" stdset="0">
++ <size>
++ <width>20</width>
++ <height>40</height>
++ </size>
++ </property>
++ </spacer>
++ </item>
++ <item>
++ <widget class="Line" name="line_3">
++ <property name="orientation">
++ <enum>Qt::Horizontal</enum>
++ </property>
++ </widget>
++ </item>
++ <item>
++ <layout class="QHBoxLayout" name="horizontalLayout">
++ <item>
++ <widget class="QToolButton" name="backButton">
++ <property name="text">
++ <string>...</string>
++ </property>
++ <property name="arrowType">
++ <enum>Qt::LeftArrow</enum>
++ </property>
++ </widget>
++ </item>
++ <item>
++ <widget class="QToolButton" name="stopButton">
++ <property name="text">
++ <string>Stop</string>
++ </property>
++ </widget>
++ </item>
++ <item>
++ <widget class="QToolButton" name="playButton">
++ <property name="text">
++ <string>Play</string>
++ </property>
++ <property name="arrowType">
++ <enum>Qt::NoArrow</enum>
++ </property>
++ </widget>
++ </item>
++ <item>
++ <widget class="QToolButton" name="nextButton">
++ <property name="text">
++ <string>...</string>
++ </property>
++ <property name="arrowType">
++ <enum>Qt::RightArrow</enum>
++ </property>
++ </widget>
++ </item>
++ </layout>
++ </item>
++ </layout>
++ </item>
++ <item>
++ <layout class="QVBoxLayout" name="verticalLayout">
++ <item>
++ <widget class="PCLQVTKWidget" name="qvtk_widget"/>
++ </item>
++ <item>
++ <widget class="QSlider" name="indexSlider">
++ <property name="orientation">
++ <enum>Qt::Horizontal</enum>
++ </property>
++ </widget>
++ </item>
++ </layout>
++ </item>
++ </layout>
+ </widget>
+ <widget class="QMenuBar" name="menubar">
+ <property name="geometry">
+@@ -137,7 +123,7 @@
+ <x>0</x>
+ <y>0</y>
+ <width>800</width>
+- <height>25</height>
++ <height>21</height>
+ </rect>
+ </property>
+ </widget>
+@@ -145,9 +131,9 @@
+ </widget>
+ <customwidgets>
+ <customwidget>
+- <class>QVTKWidget</class>
+- <extends>QWidget</extends>
+- <header>QVTKWidget.h</header>
++ <class>PCLQVTKWidget</class>
++ <extends>QOpenGLWidget</extends>
++ <header location="global">pcl/visualization/qvtk_compatibility.h</header>
+ </customwidget>
+ </customwidgets>
+ <resources/>
+diff -up ./apps/src/render_views_tesselated_sphere.cpp.4262 ./apps/src/render_views_tesselated_sphere.cpp
+--- ./apps/src/render_views_tesselated_sphere.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./apps/src/render_views_tesselated_sphere.cpp 2021-02-21 21:32:58.329176767 -0500
+@@ -7,6 +7,7 @@
+
+ #include <pcl/apps/render_views_tesselated_sphere.h>
+ #include <pcl/point_types.h>
++#include <pcl/visualization/vtk/pcl_vtk_compatibility.h>
+
+ #include <vtkActor.h>
+ #include <vtkCamera.h>
+@@ -26,6 +27,7 @@
+ #include <vtkTransformFilter.h>
+ #include <vtkTriangle.h>
+ #include <vtkWorldPointPicker.h>
++#include <vtkIdTypeArray.h>
+
+ #include <array>
+
+@@ -34,7 +36,8 @@ pcl::apps::RenderViewsTesselatedSphere::
+ {
+ // center object
+ double CoM[3];
+- vtkIdType npts_com = 0, *ptIds_com = nullptr;
++ vtkIdType npts_com = 0;
++ vtkCellPtsPtr ptIds_com = nullptr;
+ vtkSmartPointer<vtkCellArray> cells_com = polydata_->GetPolys();
+
+ double center[3], p1_com[3], p2_com[3], p3_com[3], totalArea_com = 0;
+@@ -95,7 +98,8 @@ pcl::apps::RenderViewsTesselatedSphere::
+ // * Compute area of the mesh
+ //////////////////////////////
+ vtkSmartPointer<vtkCellArray> cells = mapper->GetInput()->GetPolys();
+- vtkIdType npts = 0, *ptIds = nullptr;
++ vtkIdType npts = 0;
++ vtkCellPtsPtr ptIds = nullptr;
+
+ double p1[3], p2[3], p3[3], totalArea = 0;
+ for (cells->InitTraversal(); cells->GetNextCell(npts, ptIds);) {
+@@ -363,7 +367,8 @@ pcl::apps::RenderViewsTesselatedSphere::
+ polydata->BuildCells();
+
+ vtkSmartPointer<vtkCellArray> cells = polydata->GetPolys();
+- vtkIdType npts = 0, *ptIds = nullptr;
++ vtkIdType npts = 0;
++ vtkCellPtsPtr ptIds = nullptr;
+
+ double p1[3], p2[3], p3[3], area, totalArea = 0;
+ for (cells->InitTraversal(); cells->GetNextCell(npts, ptIds);) {
+diff -up ./CMakeLists.txt.4262 ./CMakeLists.txt
+--- ./CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./CMakeLists.txt 2021-02-21 21:32:58.319176725 -0500
+@@ -366,81 +366,15 @@ endif()
+ option(WITH_QT "Build QT Front-End" TRUE)
+ if(WITH_QT)
+ find_package(Qt5 COMPONENTS Concurrent OpenGL Widgets QUIET)
++ if(Qt5_FOUND)
++ message(STATUS "Found Qt5 version: ${Qt5_VERSION}")
++ endif()
+ endif()
+
+ # Find VTK
+ option(WITH_VTK "Build VTK-Visualizations" TRUE)
+ if(WITH_VTK AND NOT ANDROID)
+- set(PCL_VTK_COMPONENTS
+- vtkChartsCore
+- vtkCommonCore
+- vtkCommonDataModel
+- vtkCommonExecutionModel
+- vtkFiltersCore
+- vtkFiltersExtraction
+- vtkFiltersModeling
+- vtkImagingCore
+- vtkImagingSources
+- vtkInteractionStyle
+- vtkInteractionWidgets
+- vtkIOCore
+- vtkIOGeometry
+- vtkIOImage
+- vtkIOLegacy
+- vtkIOPLY
+- vtkRenderingAnnotation
+- vtkRenderingLOD
+- vtkViewsContext2D
+- )
+- find_package(VTK COMPONENTS ${PCL_VTK_COMPONENTS})
+- if(VTK_FOUND AND ("${VTK_VERSION}" VERSION_LESS 6.2))
+- message(WARNING "The minimum required version of VTK is 6.2, but found ${VTK_VERSION}")
+- set(VTK_FOUND FALSE)
+- endif()
+-
+- if(VTK_FOUND)
+- if(NOT DEFINED VTK_RENDERING_BACKEND)
+- # On old VTK versions this variable does not exist. In this case it is
+- # safe to assume OpenGL backend
+- set(VTK_RENDERING_BACKEND "OpenGL")
+- endif()
+- list(APPEND PCL_VTK_COMPONENTS vtkRenderingContext${VTK_RENDERING_BACKEND})
+-
+- if(WITH_QT)
+- if(";${VTK_MODULES_ENABLED};" MATCHES ";vtkGUISupportQt;" AND ";${VTK_MODULES_ENABLED};" MATCHES ";vtkRenderingQt;")
+- set(QVTK_FOUND ON)
+- list(APPEND PCL_VTK_COMPONENTS vtkRenderingQt vtkGUISupportQt)
+- else()
+- unset(QVTK_FOUND)
+- endif()
+- endif()
+-
+- find_package(VTK COMPONENTS ${PCL_VTK_COMPONENTS})
+-
+- message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}, rendering backend: ${VTK_RENDERING_BACKEND}")
+- if(PCL_SHARED_LIBS OR (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
+- if(VTK_USE_FILE)
+- include(${VTK_USE_FILE})
+- endif()
+- message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, libs: ${VTK_LIBRARIES}")
+- if(APPLE)
+- option(VTK_USE_COCOA "Use Cocoa for VTK render windows" ON)
+- mark_as_advanced(VTK_USE_COCOA)
+- endif()
+- if(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL")
+- set(VTK_RENDERING_BACKEND_OPENGL_VERSION "1")
+- message(DEPRECATION "The rendering backend OpenGL is deprecated and not available anymore since VTK 8.2."
+- "Please switch to the OpenGL2 backend instead, which is available since VTK 6.2."
+- "Support of the deprecated backend will be dropped with PCL 1.13.")
+- elseif(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL2")
+- set(VTK_RENDERING_BACKEND_OPENGL_VERSION "2")
+- endif()
+- else()
+- set(VTK_FOUND OFF)
+- message("Warning: You are to build PCL in STATIC but VTK is SHARED!")
+- message("Warning: VTK disabled!")
+- endif()
+- endif()
++ include("${PCL_SOURCE_DIR}/cmake/pcl_find_vtk.cmake")
+ else()
+ set(VTK_FOUND OFF)
+ endif()
+diff -up ./cmake/Modules/FindGLEW.cmake.4262 ./cmake/Modules/FindGLEW.cmake
+--- ./cmake/Modules/FindGLEW.cmake.4262 2021-02-21 21:32:58.330176771 -0500
++++ ./cmake/Modules/FindGLEW.cmake 2021-02-21 21:32:58.330176771 -0500
+@@ -0,0 +1,69 @@
++# Distributed under the OSI-approved BSD 3-Clause License. See accompanying
++# file Copyright.txt or https://cmake.org/licensing for details.
++
++#.rst:
++# FindGLEW
++# --------
++#
++# Find the OpenGL Extension Wrangler Library (GLEW)
++#
++# IMPORTED Targets
++# ^^^^^^^^^^^^^^^^
++#
++# This module defines the :prop_tgt:`IMPORTED` target ``GLEW::GLEW``,
++# if GLEW has been found.
++#
++# Result Variables
++# ^^^^^^^^^^^^^^^^
++#
++# This module defines the following variables:
++#
++# ::
++#
++# GLEW_INCLUDE_DIRS - include directories for GLEW
++# GLEW_LIBRARIES - libraries to link against GLEW
++# GLEW_FOUND - true if GLEW has been found and can be used
++
++find_path(GLEW_INCLUDE_DIR GL/glew.h)
++
++if(NOT GLEW_LIBRARY)
++ find_library(GLEW_LIBRARY_RELEASE NAMES GLEW glew32 glew glew32s PATH_SUFFIXES lib64 libx32)
++ find_library(GLEW_LIBRARY_DEBUG NAMES GLEWd glew32d glewd PATH_SUFFIXES lib64)
++
++ include(SelectLibraryConfigurations)
++ select_library_configurations(GLEW)
++endif ()
++
++include(FindPackageHandleStandardArgs)
++find_package_handle_standard_args(GLEW
++ REQUIRED_VARS GLEW_INCLUDE_DIR GLEW_LIBRARY)
++
++if(GLEW_FOUND)
++ set(GLEW_INCLUDE_DIRS ${GLEW_INCLUDE_DIR})
++
++ if(NOT GLEW_LIBRARIES)
++ set(GLEW_LIBRARIES ${GLEW_LIBRARY})
++ endif()
++
++ if (NOT TARGET GLEW::GLEW)
++ add_library(GLEW::GLEW UNKNOWN IMPORTED)
++ set_target_properties(GLEW::GLEW PROPERTIES
++ INTERFACE_INCLUDE_DIRECTORIES "${GLEW_INCLUDE_DIRS}")
++
++ if(GLEW_LIBRARY_RELEASE)
++ set_property(TARGET GLEW::GLEW APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
++ set_target_properties(GLEW::GLEW PROPERTIES IMPORTED_LOCATION_RELEASE "${GLEW_LIBRARY_RELEASE}")
++ endif()
++
++ if(GLEW_LIBRARY_DEBUG)
++ set_property(TARGET GLEW::GLEW APPEND PROPERTY IMPORTED_CONFIGURATIONS DEBUG)
++ set_target_properties(GLEW::GLEW PROPERTIES IMPORTED_LOCATION_DEBUG "${GLEW_LIBRARY_DEBUG}")
++ endif()
++
++ if(NOT GLEW_LIBRARY_RELEASE AND NOT GLEW_LIBRARY_DEBUG)
++ set_property(TARGET GLEW::GLEW APPEND PROPERTY IMPORTED_LOCATION "${GLEW_LIBRARY}")
++ endif()
++ endif()
++endif()
++
++mark_as_advanced(GLEW_INCLUDE_DIR)
+\ No newline at end of file
+diff -up ./cmake/pcl_find_vtk.cmake.4262 ./cmake/pcl_find_vtk.cmake
+--- ./cmake/pcl_find_vtk.cmake.4262 2021-02-21 21:32:58.319176725 -0500
++++ ./cmake/pcl_find_vtk.cmake 2021-02-21 21:32:58.320176729 -0500
+@@ -0,0 +1,164 @@
++function(checkVTKComponents)
++ cmake_parse_arguments(PARAM "" "MISSING_COMPONENTS" "COMPONENTS" ${ARGN})
++
++ set(vtkMissingComponents)
++
++ foreach(vtkComponent ${PARAM_COMPONENTS})
++ if (VTK_VERSION VERSION_LESS 9.0)
++ if (NOT TARGET ${vtkComponent})
++ list(APPEND vtkMissingComponents ${vtkComponent})
++ endif()
++ else()
++ if (NOT TARGET VTK::${vtkComponent})
++ list(APPEND vtkMissingComponents ${vtkComponent})
++ endif()
++ endif()
++ endforeach()
++
++ set(${PARAM_MISSING_COMPONENTS} ${vtkMissingComponents} PARENT_SCOPE)
++endfunction()
++
++# Start with a generic call to find any VTK version we are supporting, so we retrieve
++# the version of VTK. As the module names were changed from VTK 8.2 to 9.0, we don't
++# search explicitly for modules. Furthermore we don't pass required minimum version 6.2
++# to find_package because then it only accept versions with same major version.
++find_package(VTK)
++
++if(NOT VTK_FOUND)
++ return()
++endif()
++
++if(VTK_FOUND AND (VTK_VERSION VERSION_LESS 6.2))
++ message(WARNING "The minimum required version of VTK is 6.2, but found ${VTK_VERSION}")
++ set(VTK_FOUND FALSE)
++ return()
++endif()
++
++set(NON_PREFIX_PCL_VTK_COMPONENTS
++ ChartsCore
++ CommonColor
++ CommonCore
++ CommonDataModel
++ CommonExecutionModel
++ CommonMath
++ CommonMisc
++ CommonTransforms
++ FiltersCore
++ FiltersExtraction
++ FiltersGeneral
++ FiltersGeometry
++ FiltersModeling
++ FiltersSources
++ ImagingCore
++ ImagingSources
++ InteractionStyle
++ InteractionWidgets
++ IOCore
++ IOGeometry
++ IOImage
++ IOLegacy
++ IOPLY
++ RenderingAnnotation
++ RenderingCore
++ RenderingContext2D
++ RenderingLOD
++ RenderingFreeType
++ ViewsCore
++ ViewsContext2D
++)
++
++#If VTK version 6 use OpenGL
++if(VTK_VERSION VERSION_LESS 7.0)
++ set(VTK_RENDERING_BACKEND "OpenGL")
++ set(VTK_RENDERING_BACKEND_OPENGL_VERSION "1")
++ message(DEPRECATION "The rendering backend OpenGL is deprecated and not available anymore since VTK 8.2."
++ "Please switch to the OpenGL2 backend instead, which is available since VTK 6.2."
++ "Support of the deprecated backend will be dropped with PCL 1.13.")
++
++#If VTK version 7,8 or 9 use OpenGL2
++else()
++ set(VTK_RENDERING_BACKEND "OpenGL2")
++ set(VTK_RENDERING_BACKEND_OPENGL_VERSION "2")
++endif()
++
++list(APPEND NON_PREFIX_PCL_VTK_COMPONENTS Rendering${VTK_RENDERING_BACKEND})
++
++#Append vtk to components if version is <9.0
++if(VTK_VERSION VERSION_LESS 9.0)
++ foreach(vtkComponent ${NON_PREFIX_PCL_VTK_COMPONENTS})
++ set(vtkComponent "vtk${vtkComponent}")
++ list(APPEND PCL_VTK_COMPONENTS ${vtkComponent})
++ endforeach()
++else()
++ set(PCL_VTK_COMPONENTS ${NON_PREFIX_PCL_VTK_COMPONENTS})
++endif()
++
++# Check if requested modules are available
++checkVTKComponents(COMPONENTS ${PCL_VTK_COMPONENTS} MISSING_COMPONENTS vtkMissingComponents)
++
++if (vtkMissingComponents)
++ set(VTK_FOUND FALSE)
++ message(WARNING "Missing vtk modules: ${vtkMissingComponents}")
++endif()
++
++if(WITH_QT)
++ if(VTK_VERSION VERSION_LESS 9.0)
++ if(";${VTK_MODULES_ENABLED};" MATCHES ";vtkGUISupportQt;" AND ";${VTK_MODULES_ENABLED};" MATCHES ";vtkRenderingQt;")
++ set(HAVE_QVTK TRUE)
++ #PCL_VTK_COMPONENTS is used in the PCLConfig.cmake to refind the required modules.
++ #Pre vtk 9.0, all vtk libraries are linked into pcl_visualizer.
++ #Subprojects can link against pcl_visualizer and directly use VTK-QT libraries.
++ list(APPEND PCL_VTK_COMPONENTS vtkRenderingQt vtkGUISupportQt)
++ else()
++ unset(HAVE_QVTK)
++ endif()
++ else()
++ if(";${VTK_AVAILABLE_COMPONENTS};" MATCHES ";GUISupportQt;" AND ";${VTK_AVAILABLE_COMPONENTS};" MATCHES ";RenderingQt;")
++ set(HAVE_QVTK TRUE)
++ #PCL_VTK_COMPONENTS is used in the PCLConfig.cmake to refind the required modules.
++ #Post vtk 9.0, only required libraries are linked against pcl_visualizer.
++ #Subprojects need to manually link to VTK-QT libraries.
++ list(APPEND PCL_VTK_COMPONENTS RenderingQt GUISupportQt)
++ else()
++ unset(HAVE_QVTK)
++ endif()
++ endif()
++endif()
++
++if(PCL_SHARED_LIBS OR (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
++ if(VTK_VERSION VERSION_LESS 9.0)
++ if(VTK_USE_FILE)
++ include(${VTK_USE_FILE})
++ endif()
++ endif()
++
++ if(APPLE)
++ option(VTK_USE_COCOA "Use Cocoa for VTK render windows" ON)
++ mark_as_advanced(VTK_USE_COCOA)
++ endif()
++else()
++ set(VTK_FOUND OFF)
++ message("Warning: You are to build PCL in STATIC but VTK is SHARED!")
++ message("Warning: VTK disabled!")
++endif()
++
++message(STATUS "VTK version: ${VTK_VERSION}")
++message(STATUS "VTK rendering backend: ${VTK_RENDERING_BACKEND}")
++
++if(WITH_QT)
++ if(HAVE_QVTK)
++ message(STATUS "VTK Qt support: YES")
++ else()
++ message(STATUS "VTK Qt support: NOTFOUND")
++ endif()
++else()
++ message(STATUS "VTK Qt support: NO")
++endif()
++
++if(VTK_INCLUDE_DIRS)
++ message(STATUS "VTK include: ${VTK_INCLUDE_DIRS}")
++ENDIF()
++
++if(VTK_LIBRARIES)
++ message(STATUS "VTK libs: ${VTK_LIBRARIES}")
++endif()
+diff -up ./examples/keypoints/CMakeLists.txt.4262 ./examples/keypoints/CMakeLists.txt
+--- ./examples/keypoints/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./examples/keypoints/CMakeLists.txt 2021-02-21 21:32:58.325176750 -0500
+@@ -6,12 +6,11 @@ PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} D
+
+ ## Find VTK
+ if(NOT VTK_FOUND)
+- set(DEFAULT FALSE)
+- set(REASON "VTK was not found.")
++ set(DEFAULT FALSE)
++ set(REASON "VTK was not found.")
+ else()
+- set(DEFAULT TRUE)
+- set(REASON)
+- include(${VTK_USE_FILE})
++ set(DEFAULT TRUE)
++ set(REASON)
+ endif()
+
+ PCL_ADD_EXAMPLE(pcl_example_sift_keypoint_estimation FILES example_sift_keypoint_estimation.cpp
+diff -up ./examples/outofcore/CMakeLists.txt.4262 ./examples/outofcore/CMakeLists.txt
+--- ./examples/outofcore/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./examples/outofcore/CMakeLists.txt 2021-02-21 21:32:58.325176750 -0500
+@@ -9,7 +9,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- include(${VTK_USE_FILE})
+ endif()
+
+ PCL_SUBSYS_DEPEND (build ${SUBSYS_NAME} DEPS outofcore io common octree filters visualization EXT_DEPS vtk)
+diff -up ./examples/segmentation/CMakeLists.txt.4262 ./examples/segmentation/CMakeLists.txt
+--- ./examples/segmentation/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./examples/segmentation/CMakeLists.txt 2021-02-21 21:32:58.325176750 -0500
+@@ -11,7 +11,6 @@ PCL_ADD_EXAMPLE(pcl_example_region_growi
+
+ ## Find VTK
+ if(VTK_FOUND)
+- include(${VTK_USE_FILE})
+ PCL_ADD_EXAMPLE(pcl_example_supervoxels FILES example_supervoxels.cpp
+ LINK_WITH pcl_common pcl_features pcl_segmentation pcl_octree pcl_kdtree pcl_visualization)
+ PCL_ADD_EXAMPLE(pcl_example_lccp_segmentation FILES example_lccp_segmentation.cpp
+diff -up ./examples/stereo/CMakeLists.txt.4262 ./examples/stereo/CMakeLists.txt
+--- ./examples/stereo/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./examples/stereo/CMakeLists.txt 2021-02-21 21:32:58.325176750 -0500
+@@ -11,7 +11,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- include(${VTK_USE_FILE})
+ endif()
+
+ PCL_ADD_EXAMPLE(pcl_example_stereo_baseline FILES example_stereo_baseline.cpp
+diff -up ./examples/surface/CMakeLists.txt.4262 ./examples/surface/CMakeLists.txt
+--- ./examples/surface/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./examples/surface/CMakeLists.txt 2021-02-21 21:32:58.325176750 -0500
+@@ -11,7 +11,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- include(${VTK_USE_FILE})
+ endif()
+
+ PCL_ADD_EXAMPLE(pcl_test_nurbs_fitting_surface
+diff -up ./gpu/kinfu_large_scale/tools/CMakeLists.txt.4262 ./gpu/kinfu_large_scale/tools/CMakeLists.txt
+--- ./gpu/kinfu_large_scale/tools/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./gpu/kinfu_large_scale/tools/CMakeLists.txt 2021-02-21 21:32:58.324176746 -0500
+@@ -8,8 +8,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+- include("${VTK_USE_FILE}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ endif()
+
+diff -up ./gpu/kinfu/tools/CMakeLists.txt.4262 ./gpu/kinfu/tools/CMakeLists.txt
+--- ./gpu/kinfu/tools/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./gpu/kinfu/tools/CMakeLists.txt 2021-02-21 21:32:58.324176746 -0500
+@@ -8,8 +8,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+- include("${VTK_USE_FILE}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ endif()
+
+diff -up ./gpu/people/tools/CMakeLists.txt.4262 ./gpu/people/tools/CMakeLists.txt
+--- ./gpu/people/tools/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./gpu/people/tools/CMakeLists.txt 2021-02-21 21:32:58.324176746 -0500
+@@ -6,8 +6,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+- include("${VTK_USE_FILE}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ endif()
+
+diff -up ./io/CMakeLists.txt.4262 ./io/CMakeLists.txt
+--- ./io/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./io/CMakeLists.txt 2021-02-21 21:32:58.319176725 -0500
+@@ -331,10 +331,24 @@ endif()
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+
+ add_definitions(${VTK_DEFINES})
++
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
++
+ target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
+-link_directories(${VTK_LINK_DIRECTORIES})
+-target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
++
++target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply)
++if(VTK_FOUND)
++ if(${VTK_VERSION} VERSION_LESS 9.0)
++ link_directories(${VTK_LINK_DIRECTORIES})
++ target_link_libraries("${LIB_NAME}" ${VTK_LIBRARIES})
++ else()
++ target_link_libraries("${LIB_NAME}"
++ VTK::IOImage
++ VTK::IOGeometry
++ VTK::IOPLY)
++ endif()
++endif()
++
+ if(PNG_FOUND)
+ target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
+ endif()
+@@ -349,6 +363,9 @@ endif()
+
+ if(WITH_OPENNI)
+ target_link_libraries("${LIB_NAME}" ${OPENNI_LIBRARIES})
++ if(VTK_FOUND AND (NOT ${VTK_VERSION} VERSION_LESS 9.0))
++ target_link_libraries("${LIB_NAME}" VTK::FiltersCore VTK::FiltersGeneral)
++ endif()
+ endif()
+
+ if(WITH_FZAPI)
+diff -up ./io/src/vtk_lib_io.cpp.4262 ./io/src/vtk_lib_io.cpp
+--- ./io/src/vtk_lib_io.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./io/src/vtk_lib_io.cpp 2021-02-21 21:32:58.319176725 -0500
+@@ -343,7 +343,11 @@ pcl::io::vtk2mesh (const vtkSmartPointer
+
+ // Now handle the polygons
+ mesh.polygons.resize (nr_polygons);
++#ifdef VTK_CELL_ARRAY_V2
++ vtkIdType const *cell_points;
++#else
+ vtkIdType* cell_points;
++#endif
+ vtkIdType nr_cell_points;
+ vtkCellArray * mesh_polygons = poly_data->GetPolys ();
+ mesh_polygons->InitTraversal ();
+diff -up ./outofcore/tools/CMakeLists.txt.4262 ./outofcore/tools/CMakeLists.txt
+--- ./outofcore/tools/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./outofcore/tools/CMakeLists.txt 2021-02-21 21:32:58.319176725 -0500
+@@ -13,8 +13,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+- include("${VTK_USE_FILE}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+
+ set(srcs outofcore_viewer.cpp
+diff -up ./pcl_config.h.in.4262 ./pcl_config.h.in
+--- ./pcl_config.h.in.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./pcl_config.h.in 2021-02-21 21:32:58.318176721 -0500
+@@ -95,3 +95,5 @@
+ /* Version of OpenGL used by VTK as rendering backend */
+ #define VTK_RENDERING_BACKEND_OPENGL_VERSION ${VTK_RENDERING_BACKEND_OPENGL_VERSION}
+
++#cmakedefine HAVE_QVTK 1
++
+diff -up ./people/CMakeLists.txt.4262 ./people/CMakeLists.txt
+--- ./people/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./people/CMakeLists.txt 2021-02-21 21:32:58.319176725 -0500
+@@ -8,8 +8,6 @@ if(NOT VTK_FOUND)
+ else()
+ set(DEFAULT TRUE)
+ set(REASON)
+- set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+- include("${VTK_USE_FILE}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ endif()
+
+diff -up ./registration/include/pcl/registration/impl/ppf_registration.hpp.4262 ./registration/include/pcl/registration/impl/ppf_registration.hpp
+--- ./registration/include/pcl/registration/impl/ppf_registration.hpp.4262 2021-02-21 21:32:58.320176729 -0500
++++ ./registration/include/pcl/registration/impl/ppf_registration.hpp 2021-02-21 21:37:16.731298107 -0500
+@@ -83,9 +83,9 @@ pcl::PPFRegistration<PointSource, PointT
+
+ PoseWithVotesList voted_poses;
+ // Consider every <scene_reference_point_sampling_rate>-th point as the reference point => fix s_r
+- float f1, f2, f3, f4;
+- for (std::size_t scene_reference_index = 0; scene_reference_index < target_->size (); scene_reference_index += scene_reference_point_sampling_rate_)
+- {
++ float f1, f2, f3, f4;
++ for (index_t scene_reference_index = 0;
++ scene_reference_index < static_cast<index_t>(target_->size()); scene_reference_index += scene_reference_point_sampling_rate_) {
+ Eigen::Vector3f scene_reference_point = (*target_)[scene_reference_index].getVector3fMap (),
+ scene_reference_normal = (*target_)[scene_reference_index].getNormalVector3fMap ();
+
+diff -up ./registration/include/pcl/registration/ppf_registration.h.4262 ./registration/include/pcl/registration/ppf_registration.h
+diff -up ./simulation/CMakeLists.txt.4262 ./simulation/CMakeLists.txt
+--- ./simulation/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./simulation/CMakeLists.txt 2021-02-21 21:32:58.330176771 -0500
+@@ -4,12 +4,8 @@ set(SUBSYS_DEPS common io surface kdtree
+
+ set(build FALSE)
+ find_package(OpenGL)
+-if(APPLE)
+- # homebrew's FindGLEW module is not in good shape
+- find_package(glew CONFIG)
+-ELSE()
+- find_package(GLEW)
+-ENDIF()
++
++find_package(GLEW)
+
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF)
+ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS opengl glew)
+diff -up ./simulation/src/model.cpp.4262 ./simulation/src/model.cpp
+--- ./simulation/src/model.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./simulation/src/model.cpp 2021-02-21 21:32:58.330176771 -0500
+@@ -21,7 +21,7 @@ pcl::simulation::TriangleMeshModel::Tria
+
+ Eigen::Vector4f tmp;
+ for (const auto& polygon : plg->polygons) {
+- for (const unsigned int& point : polygon.vertices) {
++ for (const auto& point : polygon.vertices) {
+ tmp = newcloud[point].getVector4fMap();
+ vertices.push_back(Vertex(Eigen::Vector3f(tmp(0), tmp(1), tmp(2)),
+ Eigen::Vector3f(newcloud[point].r / 255.0f,
+@@ -36,7 +36,7 @@ pcl::simulation::TriangleMeshModel::Tria
+ pcl::fromPCLPointCloud2(plg->cloud, newcloud);
+ Eigen::Vector4f tmp;
+ for (const auto& polygon : plg->polygons) {
+- for (const unsigned int& point : polygon.vertices) {
++ for (const auto& point : polygon.vertices) {
+ tmp = newcloud[point].getVector4fMap();
+ vertices.push_back(Vertex(Eigen::Vector3f(tmp(0), tmp(1), tmp(2)),
+ Eigen::Vector3f(1.0, 1.0, 1.0)));
+diff -up ./surface/CMakeLists.txt.4262 ./surface/CMakeLists.txt
+--- ./surface/CMakeLists.txt.4262 2021-02-21 21:32:58.314176704 -0500
++++ ./surface/CMakeLists.txt 2021-02-21 21:32:58.320176729 -0500
+@@ -4,7 +4,7 @@ set(SUBSYS_DEPS common search kdtree oct
+
+ set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+-PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS qhull)
++PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS vtk OPT_DEPS qhull)
+
+ PCL_ADD_DOC("${SUBSYS_NAME}")
+
+@@ -154,19 +154,32 @@ set(impl_incs
+ )
+
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
++
+ include_directories(
+ "${CMAKE_CURRENT_SOURCE_DIR}/include"
+ "${CMAKE_CURRENT_SOURCE_DIR}"
+ )
+-include_directories(SYSTEM
+- ${VTK_INCLUDE_DIRS}
+-)
+-link_directories(${VTK_LIBRARY_DIRS})
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${VTK_SMOOTHING_INCLUDES} ${POISSON_INCLUDES} ${OPENNURBS_INCLUDES} ${ON_NURBS_INCLUDES})
+-target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${VTK_LIBRARIES} ${ON_NURBS_LIBRARIES})
++
++target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${ON_NURBS_LIBRARIES})
++
++if(VTK_FOUND)
++ if(${VTK_VERSION} VERSION_LESS 9.0)
++ include_directories(SYSTEM ${VTK_INCLUDE_DIRS})
++ link_directories(${VTK_LIBRARY_DIRS})
++ target_link_libraries("${LIB_NAME}" ${VTK_LIBRARIES})
++ else()
++ target_link_libraries("${LIB_NAME}" VTK::CommonDataModel
++ VTK::CommonExecutionModel
++ VTK::FiltersModeling
++ VTK::FiltersCore)
++ endif()
++endif()
++
+ if(QHULL_FOUND)
+ target_link_libraries("${LIB_NAME}" ${QHULL_LIBRARIES})
+ endif()
++
+ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
+
+ # Install include files
+@@ -183,6 +196,7 @@ endif()
+ if(VTK_FOUND AND NOT ANDROID)
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/vtk_smoothing" ${VTK_SMOOTHING_INCLUDES})
+ endif()
++
+ if(WIN32)
+ target_link_libraries("${LIB_NAME}" Rpcrt4.lib)
+ endif()
+diff -up ./surface/src/vtk_smoothing/vtk_utils.cpp.4262 ./surface/src/vtk_smoothing/vtk_utils.cpp
+--- ./surface/src/vtk_smoothing/vtk_utils.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./surface/src/vtk_smoothing/vtk_utils.cpp 2021-02-21 21:32:58.320176729 -0500
+@@ -49,6 +49,7 @@
+ #include <vtkPolyData.h>
+ #include <vtkPointData.h>
+ #include <vtkFloatArray.h>
++#include <vtkUnsignedCharArray.h>
+
+ // Support for VTK 7.1 upwards
+ #ifdef vtkGenericDataArray_h
+@@ -155,7 +156,11 @@ pcl::VTKUtils::vtk2mesh (const vtkSmartP
+ }
+
+ mesh.polygons.resize (nr_polygons);
++#ifdef VTK_CELL_ARRAY_V2
++ vtkIdType const *cell_points;
++#else
+ vtkIdType* cell_points;
++#endif
+ vtkIdType nr_cell_points;
+ vtkCellArray * mesh_polygons = poly_data->GetPolys ();
+ mesh_polygons->InitTraversal ();
+diff -up ./tools/CMakeLists.txt.4262 ./tools/CMakeLists.txt
+--- ./tools/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./tools/CMakeLists.txt 2021-02-21 21:32:58.324176746 -0500
+@@ -200,12 +200,20 @@ else()
+
+ PCL_ADD_EXECUTABLE(pcl_obj2pcd COMPONENT ${SUBSYS_NAME} SOURCES obj2pcd.cpp)
+ target_link_libraries(pcl_obj2pcd pcl_common pcl_io)
++ #TODO: Update when CMAKE 3.10 is available
++ if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ target_link_libraries(pcl_obj2pcd VTK::FiltersCore)
++ endif()
+
+ PCL_ADD_EXECUTABLE(pcl_obj2ply COMPONENT ${SUBSYS_NAME} SOURCES obj2ply.cpp)
+ target_link_libraries(pcl_obj2ply pcl_common pcl_io)
+
+ PCL_ADD_EXECUTABLE(pcl_vtk2pcd COMPONENT ${SUBSYS_NAME} SOURCES vtk2pcd.cpp)
+ target_link_libraries(pcl_vtk2pcd pcl_common pcl_io)
++ #TODO: Update when CMAKE 3.10 is available
++ if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ target_link_libraries(pcl_vtk2pcd VTK::FiltersCore)
++ endif()
+
+ if(BUILD_visualization)
+ PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_model_opps COMPONENT ${SUBSYS_NAME} SOURCES obj_rec_ransac_model_opps.cpp)
+diff -up ./tools/mesh_sampling.cpp.4262 ./tools/mesh_sampling.cpp
+--- ./tools/mesh_sampling.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./tools/mesh_sampling.cpp 2021-02-21 21:37:49.883421792 -0500
+@@ -36,6 +36,7 @@
+ */
+
+ #include <pcl/visualization/pcl_visualizer.h>
++#include <pcl/visualization/vtk/pcl_vtk_compatibility.h>
+ #include <pcl/io/pcd_io.h>
+ #include <pcl/io/vtk_lib_io.h>
+ #include <pcl/common/transforms.h>
+@@ -87,7 +88,8 @@ randPSurface (vtkPolyData * polydata, st
+
+ double A[3], B[3], C[3];
+ vtkIdType npts = 0;
+- vtkIdType *ptIds = nullptr;
++ vtkCellPtsPtr ptIds = nullptr;
++
+ polydata->GetCellPoints (el, npts, ptIds);
+ polydata->GetPoint (ptIds[0], A);
+ polydata->GetPoint (ptIds[1], B);
+@@ -138,7 +140,8 @@ uniform_sampling (vtkSmartPointer<vtkPol
+
+ double p1[3], p2[3], p3[3], totalArea = 0;
+ std::vector<double> cumulativeAreas (cells->GetNumberOfCells (), 0);
+- vtkIdType npts = 0, *ptIds = nullptr;
++ vtkIdType npts = 0;
++ vtkCellPtsPtr ptIds = nullptr;
+ std::size_t cellId = 0;
+ for (cells->InitTraversal (); cells->GetNextCell (npts, ptIds); cellId++)
+ {
+diff -up ./tools/openni_save_image.cpp.4262 ./tools/openni_save_image.cpp
+--- ./tools/openni_save_image.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./tools/openni_save_image.cpp 2021-02-21 21:32:58.324176746 -0500
+@@ -39,9 +39,13 @@
+ #include <pcl/io/openni_grabber.h>
+ #include <pcl/io/openni_camera/openni_driver.h>
+ #include <pcl/console/parse.h>
+-#include <pcl/visualization/vtk.h>
+ #include <pcl/visualization/pcl_visualizer.h>
+
++#include <vtkSmartPointer.h>
++#include <vtkImageImport.h>
++#include <vtkTIFFWriter.h>
++#include <vtkImageFlip.h>
++
+ #include "boost.h"
+
+ #include <mutex>
+diff -up ./tools/pcd_viewer.cpp.4262 ./tools/pcd_viewer.cpp
+--- ./tools/pcd_viewer.cpp.4262 2021-02-21 21:32:58.324176746 -0500
++++ ./tools/pcd_viewer.cpp 2021-02-21 21:38:10.031471875 -0500
+@@ -45,7 +45,6 @@
+ #include <pcl/io/pcd_io.h>
+ #include <cfloat>
+ #include <pcl/visualization/eigen.h>
+-//#include <pcl/visualization/vtk.h>
+ #include <pcl/visualization/point_cloud_handlers.h>
+ #include <pcl/visualization/pcl_visualizer.h>
+ #include <pcl/visualization/image_viewer.h>
+diff -up ./tools/virtual_scanner.cpp.4262 ./tools/virtual_scanner.cpp
+--- ./tools/virtual_scanner.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./tools/virtual_scanner.cpp 2021-02-21 21:32:58.324176746 -0500
+@@ -54,7 +54,12 @@
+ #include <pcl/memory.h> // for pcl::make_shared
+ #include <pcl/point_types.h>
+ #include <pcl/console/parse.h>
+-#include <pcl/visualization/vtk.h>
++
++#include <vtkGeneralTransform.h>
++#include <vtkPlatonicSolidSource.h>
++#include <vtkLoopSubdivisionFilter.h>
++#include <vtkCellLocator.h>
++#include <vtkMath.h>
+
+ #include <boost/algorithm/string.hpp> // for boost::is_any_of, boost::split, boost::token_compress_on, boost::trim
+ #include <boost/filesystem.hpp> // for boost::filesystem::create_directories, boost::filesystem::exists, boost::filesystem::extension, boost::filesystem::path
+diff -up ./visualization/CMakeLists.txt.4262 ./visualization/CMakeLists.txt
+--- ./visualization/CMakeLists.txt.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/CMakeLists.txt 2021-02-21 21:32:58.321176734 -0500
+@@ -63,6 +63,14 @@ if(VTK_RENDERING_BACKEND_OPENGL_VERSION
+ )
+ endif()
+
++if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ if(NOT (";${VTK_AVAILABLE_COMPONENTS};" MATCHES ";RenderingContextOpenGL2;"))
++ list(REMOVE_ITEM srcs
++ src/pcl_painter2D.cpp
++ )
++ endif()
++endif()
++
+ set(incs
+ "include/pcl/${SUBSYS_NAME}/eigen.h"
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+@@ -85,6 +93,7 @@ set(incs
+ "include/pcl/${SUBSYS_NAME}/vtk.h"
+ "include/pcl/${SUBSYS_NAME}/simple_buffer_visualizer.h"
+ "include/pcl/${SUBSYS_NAME}/pcl_plotter.h"
++ "include/pcl/${SUBSYS_NAME}/qvtk_compatibility.h"
+ )
+
+ set(common_incs
+@@ -116,6 +125,7 @@ set(vtk_incs
+ "include/pcl/${SUBSYS_NAME}/vtk/pcl_image_canvas_source_2d.h"
+ "include/pcl/${SUBSYS_NAME}/vtk/pcl_context_item.h"
+ "include/pcl/${SUBSYS_NAME}/vtk/vtkRenderWindowInteractorFix.h"
++ "include/pcl/${SUBSYS_NAME}/vtk/pcl_vtk_compatibility.h"
+ )
+
+ if(VTK_RENDERING_BACKEND_OPENGL_VERSION VERSION_LESS 2)
+@@ -125,6 +135,15 @@ if(VTK_RENDERING_BACKEND_OPENGL_VERSION
+ )
+ endif()
+
++if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ if(NOT (";${VTK_AVAILABLE_COMPONENTS};" MATCHES ";RenderingContextOpenGL2;"))
++
++ list(REMOVE_ITEM incs
++ "include/pcl/${SUBSYS_NAME}/pcl_painter2D.h"
++ )
++ endif()
++endif()
++
+ # on apple, a workaround is used for the cocoa render window interactor
+ if(APPLE)
+ list(APPEND srcs
+@@ -134,14 +153,43 @@ endif()
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${common_incs} ${impl_incs} ${common_impl_incs} ${vtk_incs})
+
+-target_include_directories("${LIB_NAME}" SYSTEM PUBLIC ${VTK_INCLUDE_DIRS})
+-
+ # apple workaround (continued)
+ if(APPLE)
+ target_link_libraries("${LIB_NAME}" "-framework Cocoa")
+ endif()
+
+-target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree ${VTK_LIBRARIES} ${OPENGL_LIBRARIES})
++target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree ${OPENGL_LIBRARIES})
++
++if(${VTK_VERSION} VERSION_LESS 9.0)
++ target_include_directories("${LIB_NAME}" SYSTEM PUBLIC ${VTK_INCLUDE_DIRS})
++ target_link_libraries("${LIB_NAME}" ${VTK_LIBRARIES})
++else()
++ #Some libs are referenced through depending on IO
++ target_link_libraries("${LIB_NAME}"
++ VTK::ChartsCore
++ VTK::CommonColor
++ VTK::CommonDataModel
++ VTK::FiltersExtraction
++ VTK::FiltersGeometry
++ VTK::FiltersGeneral
++ VTK::FiltersModeling
++ VTK::FiltersSources
++ VTK::IOImage
++ VTK::IOPLY
++ VTK::ImagingSources
++ VTK::InteractionImage
++ VTK::InteractionStyle
++ VTK::RenderingAnnotation
++ VTK::RenderingContext2D
++ VTK::RenderingFreeType
++ VTK::RenderingLOD
++ VTK::RenderingOpenGL2
++ VTK::ViewsContext2D)
++
++ if(";${VTK_AVAILABLE_COMPONENTS};" MATCHES ";RenderingContextOpenGL2;")
++ target_link_libraries("${LIB_NAME}" VTK::RenderingContextOpenGL2)
++ endif()
++endif()
+
+ set(EXT_DEPS "")
+ if(WITH_OPENNI)
+@@ -162,6 +210,7 @@ endif()
+ if(WITH_RSSDK)
+ list(APPEND EXT_DEPS rssdk)
+ endif()
++
+ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
+
+ # Install include files
+@@ -171,6 +220,13 @@ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUB
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/common/impl" ${common_impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/vtk" ${vtk_incs})
+
++#TODO: Update when CMAKE 3.10 is available
++if(NOT (${VTK_VERSION} VERSION_LESS 9.0))
++ vtk_module_autoinit(TARGETS "${LIB_NAME}"
++ MODULES VTK::RenderingOpenGL2
++ VTK::RenderingFreeType)
++endif()
++
+ if(BUILD_TESTS)
+ add_subdirectory(test)
+ endif()
+diff -up ./visualization/include/pcl/visualization/common/actor_map.h.4262 ./visualization/include/pcl/visualization/common/actor_map.h
+--- ./visualization/include/pcl/visualization/common/actor_map.h.4262 2021-02-21 21:32:58.321176734 -0500
++++ ./visualization/include/pcl/visualization/common/actor_map.h 2021-02-21 21:36:12.441016708 -0500
+@@ -43,6 +43,7 @@
+
+ #include <vtkLODActor.h>
+ #include <vtkSmartPointer.h>
++#include <vtkIdTypeArray.h>
+
+ #include <map>
+ #include <unordered_map>
+diff -up ./visualization/include/pcl/visualization/common/ren_win_interact_map.h.4262 ./visualization/include/pcl/visualization/common/ren_win_interact_map.h
+--- ./visualization/include/pcl/visualization/common/ren_win_interact_map.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/include/pcl/visualization/common/ren_win_interact_map.h 2021-02-21 21:32:58.321176734 -0500
+@@ -41,8 +41,9 @@
+ #include <map>
+ #include <string>
+
++#include <vtkXYPlotActor.h>
++
+ template <typename T> class vtkSmartPointer;
+-class vtkXYPlotActor;
+ class vtkRenderer;
+ class vtkRenderWindow;
+ class vtkRenderWindowInteractor;
+diff -up ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp.4262 ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
+--- ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp 2021-02-21 21:35:45.915889008 -0500
+@@ -62,6 +62,7 @@
+ #include <vtkLODActor.h>
+ #include <vtkLineSource.h>
+
++#include <pcl/common/utils.h> // pcl::utils::ignore
+ #include <pcl/visualization/common/shapes.h>
+
+ // Support for VTK 7.1 upwards
+@@ -270,11 +271,40 @@ pcl::visualization::PCLVisualizer::conve
+ points->SetNumberOfPoints (nr_points);
+ }
+
++#ifdef VTK_CELL_ARRAY_V2
++ // TODO: Remove when VTK 6,7,8 is unsupported
++ pcl::utils::ignore(initcells);
++
++ auto numOfCells = vertices->GetNumberOfCells();
++
++ // If we have less cells than points, add new cells.
++ if (numOfCells < nr_points)
++ {
++ for (int i = numOfCells; i < nr_points; i++)
++ {
++ vertices->InsertNextCell(1);
++ vertices->InsertCellPoint(i);
++ }
++ }
++ // if we too many cells than points, set size (doesn't free excessive memory)
++ else if (numOfCells > nr_points)
++ {
++ vertices->ResizeExact(nr_points, nr_points);
++ }
++
++ polydata->SetPoints(points);
++ polydata->SetVerts(vertices);
++
++#else
+ vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
+ updateCells (cells, initcells, nr_points);
+
+ // Set the cells and the vertices
+ vertices->SetCells (nr_points, cells);
++
++ // Set the cell count explicitly as the array doesn't get modified enough so the above method updates accordingly. See #4001 and #3452
++ vertices->SetNumberOfCells(nr_points);
++#endif
+ }
+
+ //////////////////////////////////////////////////////////////////////////////////////////////
+@@ -304,10 +334,36 @@ pcl::visualization::PCLVisualizer::conve
+ if (!vertices)
+ vertices = vtkSmartPointer<vtkCellArray>::New ();
+
++#ifdef VTK_CELL_ARRAY_V2
++ // TODO: Remove when VTK 6,7,8 is unsupported
++ pcl::utils::ignore(initcells);
++
++ auto numOfCells = vertices->GetNumberOfCells();
++
++ // If we have less cells than points, add new cells.
++ if (numOfCells < nr_points)
++ {
++ for (int i = numOfCells; i < nr_points; i++)
++ {
++ vertices->InsertNextCell(1);
++ vertices->InsertCellPoint(i);
++ }
++ }
++ // if we too many cells than points, set size (doesn't free excessive memory)
++ else if (numOfCells > nr_points)
++ {
++ vertices->ResizeExact(nr_points, nr_points);
++ }
++
++ polydata->SetPoints(points);
++ polydata->SetVerts(vertices);
++
++#else
+ vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
+ updateCells (cells, initcells, nr_points);
+ // Set the cells and the vertices
+ vertices->SetCells (nr_points, cells);
++#endif
+ }
+
+ ////////////////////////////////////////////////////////////////////////////////////////////
+@@ -1304,7 +1360,6 @@ pcl::visualization::PCLVisualizer::fromH
+ vtkSmartPointer<vtkIdTypeArray> initcells;
+ // Convert the PointCloud to VTK PolyData
+ convertPointCloudToVTKPolyData<PointT> (geometry_handler, polydata, initcells);
+- // use the given geometry handler
+
+ // Get the colors from the handler
+ bool has_colors = false;
+@@ -1701,32 +1756,9 @@ pcl::visualization::PCLVisualizer::addPo
+ {
+ // Create polys from polyMesh.polygons
+ vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New ();
+- vtkIdType *cell = cell_array->WritePointer (vertices.size (), vertices.size () * (max_size_of_polygon + 1));
+- int idx = 0;
+- if (!lookup.empty ())
+- {
+- for (std::size_t i = 0; i < vertices.size (); ++i, ++idx)
+- {
+- std::size_t n_points = vertices[i].vertices.size ();
+- *cell++ = n_points;
+- //cell_array->InsertNextCell (n_points);
+- for (std::size_t j = 0; j < n_points; j++, ++idx)
+- *cell++ = lookup[vertices[i].vertices[j]];
+- //cell_array->InsertCellPoint (lookup[vertices[i].vertices[j]]);
+- }
+- }
+- else
+- {
+- for (std::size_t i = 0; i < vertices.size (); ++i, ++idx)
+- {
+- std::size_t n_points = vertices[i].vertices.size ();
+- *cell++ = n_points;
+- //cell_array->InsertNextCell (n_points);
+- for (std::size_t j = 0; j < n_points; j++, ++idx)
+- *cell++ = vertices[i].vertices[j];
+- //cell_array->InsertCellPoint (vertices[i].vertices[j]);
+- }
+- }
++
++ const auto idx = details::fillCells(lookup,vertices,cell_array, max_size_of_polygon);
++
+ vtkSmartPointer<vtkPolyData> polydata;
+ allocVtkPolyData (polydata);
+ cell_array->GetData ()->SetNumberOfValues (idx);
+@@ -1878,28 +1910,9 @@ pcl::visualization::PCLVisualizer::updat
+
+ // Update the cells
+ cells = vtkSmartPointer<vtkCellArray>::New ();
+- vtkIdType *cell = cells->WritePointer (verts.size (), verts.size () * (max_size_of_polygon + 1));
+- int idx = 0;
+- if (!lookup.empty ())
+- {
+- for (std::size_t i = 0; i < verts.size (); ++i, ++idx)
+- {
+- std::size_t n_points = verts[i].vertices.size ();
+- *cell++ = n_points;
+- for (std::size_t j = 0; j < n_points; j++, cell++, ++idx)
+- *cell = lookup[verts[i].vertices[j]];
+- }
+- }
+- else
+- {
+- for (std::size_t i = 0; i < verts.size (); ++i, ++idx)
+- {
+- std::size_t n_points = verts[i].vertices.size ();
+- *cell++ = n_points;
+- for (std::size_t j = 0; j < n_points; j++, cell++, ++idx)
+- *cell = verts[i].vertices[j];
+- }
+- }
++
++ const auto idx = details::fillCells(lookup, verts, cells, max_size_of_polygon);
++
+ cells->GetData ()->SetNumberOfValues (idx);
+ cells->Squeeze ();
+ // Set the the vertices
+diff -up ./visualization/include/pcl/visualization/interactor_style.h.4262 ./visualization/include/pcl/visualization/interactor_style.h
+--- ./visualization/include/pcl/visualization/interactor_style.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/include/pcl/visualization/interactor_style.h 2021-02-21 21:32:58.322176738 -0500
+@@ -51,6 +51,8 @@
+ #include <boost/signals2/signal.hpp>
+ #endif
+ #include <vtkInteractorStyleRubberBandPick.h>
++#include <vtkRendererCollection.h>
++#include <vtkRenderWindow.h>
+
+ class vtkRendererCollection;
+ class vtkLegendScaleActor;
+diff -up ./visualization/include/pcl/visualization/pcl_plotter.h.4262 ./visualization/include/pcl/visualization/pcl_plotter.h
+--- ./visualization/include/pcl/visualization/pcl_plotter.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/include/pcl/visualization/pcl_plotter.h 2021-02-21 21:32:58.322176738 -0500
+@@ -49,16 +49,16 @@
+ #include <pcl/point_cloud.h>
+ #include <pcl/common/io.h>
+
+-class vtkRenderWindow;
+-class vtkRenderWindowInteractor;
+-class vtkContextView;
+-class vtkChartXY;
+-class vtkColorSeries;
+-
++#include <vtkContextView.h>
++#include <vtkChartXY.h>
++#include <vtkColorSeries.h>
+ #include <vtkSmartPointer.h>
+ #include <vtkCommand.h>
+ #include <vtkChart.h>
+
++class vtkRenderWindow;
++class vtkRenderWindowInteractor;
++
+ namespace pcl
+ {
+ namespace visualization
+diff -up ./visualization/include/pcl/visualization/pcl_visualizer.h.4262 ./visualization/include/pcl/visualization/pcl_visualizer.h
+--- ./visualization/include/pcl/visualization/pcl_visualizer.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/include/pcl/visualization/pcl_visualizer.h 2021-02-21 21:32:58.322176738 -0500
+@@ -53,14 +53,15 @@
+ #include <pcl/visualization/area_picking_event.h>
+ #include <pcl/visualization/interactor_style.h>
+
++#include <vtkOrientationMarkerWidget.h>
++#include <vtkRenderWindowInteractor.h>
++
+ // VTK includes
+ class vtkPolyData;
+ class vtkTextActor;
+ class vtkRenderWindow;
+-class vtkOrientationMarkerWidget;
+ class vtkAppendPolyData;
+ class vtkRenderWindow;
+-class vtkRenderWindowInteractor;
+ class vtkTransform;
+ class vtkInteractorStyle;
+ class vtkLODActor;
+@@ -68,6 +69,7 @@ class vtkProp;
+ class vtkActor;
+ class vtkDataSet;
+ class vtkUnstructuredGrid;
++class vtkCellArray;
+
+ namespace pcl
+ {
+@@ -76,6 +78,11 @@ namespace pcl
+
+ namespace visualization
+ {
++ namespace details
++ {
++ vtkIdType fillCells(std::vector<int>& lookup, const std::vector<pcl::Vertices>& vertices, vtkSmartPointer<vtkCellArray> cell_array, int max_size_of_polygon);
++ }
++
+ /** \brief PCL Visualizer main class.
+ * \author Radu B. Rusu
+ * \ingroup visualization
+@@ -2170,7 +2177,7 @@ namespace pcl
+ vtkSmartPointer<vtkPolyData> &polydata,
+ vtkSmartPointer<vtkIdTypeArray> &initcells);
+
+- /** \brief Converts a PCL templated PointCloud object to a vtk polydata object.
++ /** \brief Converts a PCL object to a vtk polydata object.
+ * \param[in] geometry_handler the geometry handler object used to extract the XYZ data
+ * \param[out] polydata the resultant polydata containing the cloud
+ * \param[out] initcells a list of cell indices used for the conversion. This can be set once and then passed
+diff -up ./visualization/include/pcl/visualization/qvtk_compatibility.h.4262 ./visualization/include/pcl/visualization/qvtk_compatibility.h
+--- ./visualization/include/pcl/visualization/qvtk_compatibility.h.4262 2021-02-21 21:32:58.318176721 -0500
++++ ./visualization/include/pcl/visualization/qvtk_compatibility.h 2021-02-21 21:32:58.322176738 -0500
+@@ -0,0 +1,51 @@
++/*
++ * SPDX-License-Identifier: BSD-3-Clause
++ *
++ * Point Cloud Library (PCL) - www.pointclouds.org
++ * Copyright (c) 2020-, Open Perception
++ *
++ * All rights reserved
++ */
++#include <pcl/pcl_macros.h>
++#include <pcl/pcl_config.h>
++
++#if HAVE_QVTK
++#include <vtkVersion.h>
++#include <vtkRenderWindow.h>
++
++#if VTK_MAJOR_VERSION > 8
++ #include <QVTKOpenGLNativeWidget.h>
++ using PCLQVTKWidget = QVTKOpenGLNativeWidget;
++#else
++ #include <QVTKWidget.h>
++ using PCLQVTKWidget = QVTKWidget;
++#endif // VTK_MAJOR_VERSION > 8
++
++
++inline auto PCL_EXPORTS getInteractorCompat(PCLQVTKWidget& qvtk) {
++#if VTK_MAJOR_VERSION > 8
++ return qvtk.interactor();
++#else
++ return qvtk.GetInteractor();
++#endif // VTK_MAJOR_VERSION > 8
++}
++
++inline auto PCL_EXPORTS getRenderWindowCompat(PCLQVTKWidget& qvtk) {
++#if VTK_MAJOR_VERSION > 8
++ return qvtk.renderWindow();
++#else
++ return qvtk.GetRenderWindow();
++#endif // VTK_MAJOR_VERSION > 8
++}
++
++inline auto PCL_EXPORTS setRenderWindowCompat(PCLQVTKWidget& qvtk, vtkRenderWindow& window) {
++#if VTK_MAJOR_VERSION > 8
++ return qvtk.setRenderWindow(&window);
++#else
++ return qvtk.SetRenderWindow(&window);
++#endif // VTK_MAJOR_VERSION > 8
++}
++
++#else
++#error PCL is not compiled with QVTK.
++#endif
+diff -up ./visualization/include/pcl/visualization/vtk.h.4262 ./visualization/include/pcl/visualization/vtk.h
+--- ./visualization/include/pcl/visualization/vtk.h.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/include/pcl/visualization/vtk.h 2021-02-21 21:32:58.322176738 -0500
+@@ -1,172 +1,10 @@
+ /*
+- * Software License Agreement (BSD License)
++ * SPDX-License-Identifier: BSD-3-Clause
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+- * Copyright (c) 2009-2012, Willow Garage, Inc.
+- * Copyright (c) 2012-, Open Perception, Inc.
+- *
+- * All rights reserved.
+- *
+- * Redistribution and use in source and binary forms, with or without
+- * modification, are permitted provided that the following conditions
+- * are met:
+- *
+- * * Redistributions of source code must retain the above copyright
+- * notice, this list of conditions and the following disclaimer.
+- * * Redistributions in binary form must reproduce the above
+- * copyright notice, this list of conditions and the following
+- * disclaimer in the documentation and/or other materials provided
+- * with the distribution.
+- * * Neither the name of the copyright holder(s) nor the names of its
+- * contributors may be used to endorse or promote products derived
+- * from this software without specific prior written permission.
+- *
+- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+- * POSSIBILITY OF SUCH DAMAGE.
+- *
+- * $Id$
++ * Copyright (c) 2020-, Open Perception
+ *
++ * All rights reserved
+ */
+
+-#pragma once
+-
+-#if defined __GNUC__
+-#pragma GCC system_header
+-#ifdef __DEPRECATED
+-#undef __DEPRECATED
+-#define __DEPRECATED_DISABLED__
+-#endif
+-#endif
+-
+-#include <vtkVersion.h>
+-#include <vtkAppendPolyData.h>
+-#include <vtkAssemblyPath.h>
+-#include <vtkAxesActor.h>
+-#include <vtkActor.h>
+-#include <vtkBoxRepresentation.h>
+-#include <vtkBoxWidget.h>
+-#include <vtkBoxWidget2.h>
+-#include <vtkCellData.h>
+-#include <vtkMath.h>
+-#include <vtkLoopSubdivisionFilter.h>
+-#include <vtkLineSource.h>
+-#include <vtkLegendScaleActor.h>
+-#include <vtkLightKit.h>
+-#include <vtkPlatonicSolidSource.h>
+-#include <vtkPropPicker.h>
+-#include <vtkGeneralTransform.h>
+-#include <vtkSmartPointer.h>
+-#include <vtkDataSet.h>
+-#include <vtkDataSetSurfaceFilter.h>
+-#include <vtkExecutive.h>
+-#include <vtkPolygon.h>
+-#include <vtkPointPicker.h>
+-#include <vtkUnstructuredGrid.h>
+-#include <vtkConeSource.h>
+-#include <vtkDiskSource.h>
+-#include <vtkPlaneSource.h>
+-#include <vtkSphereSource.h>
+-#include <vtkIdentityTransform.h>
+-#include <vtkTransform.h>
+-#include <vtkTransformPolyDataFilter.h>
+-#include <vtkTubeFilter.h>
+-#include <vtkCubeSource.h>
+-#include <vtkAxes.h>
+-#include <vtkFloatArray.h>
+-#include <vtkPointData.h>
+-#include <vtkPolyData.h>
+-#include <vtkPolyDataReader.h>
+-#include <vtkPolyDataMapper.h>
+-#include <vtkDataSetMapper.h>
+-#include <vtkCellArray.h>
+-#include <vtkCommand.h>
+-#include <vtkCellLocator.h>
+-#include <vtkPLYReader.h>
+-#include <vtkTransformFilter.h>
+-#include <vtkPolyLine.h>
+-#include <vtkVectorText.h>
+-#include <vtkFollower.h>
+-#include <vtkCallbackCommand.h>
+-#include <vtkInteractorStyle.h>
+-#include <vtkInformationVector.h>
+-#include <vtkDataArray.h>
+-#include <vtkUnsignedCharArray.h>
+-#include <vtkPoints.h>
+-#include <vtkRendererCollection.h>
+-#include <vtkPNGWriter.h>
+-#include <vtkWindowToImageFilter.h>
+-#include <vtkInteractorStyleTrackballCamera.h>
+-#include <vtkProperty.h>
+-#include <vtkCamera.h>
+-#include <vtkObjectFactory.h>
+-#include <vtkScalarBarActor.h>
+-#include <vtkScalarsToColors.h>
+-#include <vtkClipPolyData.h>
+-#include <vtkPlanes.h>
+-#include <vtkImageImport.h>
+-#include <vtkImageViewer.h>
+-#include <vtkInteractorStyleImage.h>
+-#include <vtkImageFlip.h>
+-#include <vtkTIFFWriter.h>
+-#include <vtkBMPWriter.h>
+-#include <vtkJPEGWriter.h>
+-#include <vtkImageViewer2.h>
+-#include <vtkRenderWindow.h>
+-#include <vtkXYPlotActor.h>
+-#include <vtkTextProperty.h>
+-#include <vtkProperty2D.h>
+-#include <vtkFieldData.h>
+-#include <vtkDoubleArray.h>
+-#include <vtkLODActor.h>
+-#include <vtkPolyDataWriter.h>
+-#include <vtkTextActor.h>
+-#include <vtkCleanPolyData.h>
+-#include <vtkRenderer.h>
+-#include <vtkObject.h>
+-#include <vtkOrientationMarkerWidget.h>
+-#include <vtkImageReslice.h>
+-#include <vtkImageChangeInformation.h>
+-#include <vtkImageCanvasSource2D.h>
+-#include <vtkImageBlend.h>
+-#include <vtkImageStencilData.h>
+-#include <vtkRenderWindowInteractor.h>
+-#include <vtkChartXY.h>
+-#include <vtkPlot.h>
+-#include <vtkTable.h>
+-#include <vtkContextView.h>
+-#include <vtkContextScene.h>
+-#include <vtkColorSeries.h>
+-#include <vtkAxis.h>
+-#include <vtkSelection.h>
+-
+-#include <vtkHardwareSelector.h>
+-
+-#include <vtkTriangle.h>
+-#include <vtkWorldPointPicker.h>
+-
+-#include <vtkInteractorStyleRubberBandPick.h>
+-#include <vtkInteractorStyleTrackballActor.h>
+-#include <vtkAreaPicker.h>
+-#include <vtkExtractGeometry.h>
+-#include <vtkExtractPolyDataGeometry.h>
+-#include <vtkVertexGlyphFilter.h>
+-#include <vtkIdFilter.h>
+-#include <vtkIdTypeArray.h>
+-#include <vtkImageReader2Factory.h>
+-#include <vtkImageReader2.h>
+-#include <vtkImageData.h>
+-
+-#if defined __GNUC__ && defined __DEPRECATED_DISABLED__
+-#define __DEPRECATED
+-#undef __DEPRECATED_DISABLED__
+-#endif
++PCL_DEPRECATED_HEADER(1, 14, "Use required vtk includes instead.")
+diff -up ./visualization/include/pcl/visualization/vtk/pcl_vtk_compatibility.h.4262 ./visualization/include/pcl/visualization/vtk/pcl_vtk_compatibility.h
+--- ./visualization/include/pcl/visualization/vtk/pcl_vtk_compatibility.h.4262 2021-02-21 21:32:58.319176725 -0500
++++ ./visualization/include/pcl/visualization/vtk/pcl_vtk_compatibility.h 2021-02-21 21:32:58.319176725 -0500
+@@ -0,0 +1,17 @@
++/*
++ * SPDX-License-Identifier: BSD-3-Clause
++ *
++ * Point Cloud Library (PCL) - www.pointclouds.org
++ * Copyright (c) 2020-, Open Perception
++ *
++ * All rights reserved
++ */
++
++#include <vtkCellArray.h>
++
++#ifdef VTK_CELL_ARRAY_V2
++ using vtkCellPtsPtr = vtkIdType const*;
++#else
++ using vtkCellPtsPtr = vtkIdType*;
++#endif
++
+diff -up ./visualization/src/cloud_viewer.cpp.4262 ./visualization/src/cloud_viewer.cpp
+--- ./visualization/src/cloud_viewer.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/src/cloud_viewer.cpp 2021-02-21 21:32:58.322176738 -0500
+@@ -40,6 +40,9 @@
+ #include <pcl/visualization/boost.h>
+ #include <pcl/memory.h>
+
++#include <vtkOrientationMarkerWidget.h>
++#include <vtkRenderWindowInteractor.h>
++
+ #include <mutex>
+ #include <thread>
+
+diff -up ./visualization/src/histogram_visualizer.cpp.4262 ./visualization/src/histogram_visualizer.cpp
+--- ./visualization/src/histogram_visualizer.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/src/histogram_visualizer.cpp 2021-02-21 21:32:58.322176738 -0500
+@@ -45,7 +45,6 @@
+ #include <pcl/visualization/boost.h>
+
+ #include <vtkVersion.h>
+-#include <vtkXYPlotActor.h>
+ #include <vtkDoubleArray.h>
+ #include <vtkTextProperty.h>
+ #include <vtkRenderWindow.h>
+diff -up ./visualization/src/interactor_style.cpp.4262 ./visualization/src/interactor_style.cpp
+--- ./visualization/src/interactor_style.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/src/interactor_style.cpp 2021-02-21 21:32:58.323176742 -0500
+@@ -36,6 +36,7 @@
+ *
+ */
+
++#include <fstream>
+ #include <list>
+ #include <pcl/common/angles.h>
+ #include <pcl/visualization/common/io.h>
+@@ -137,7 +138,7 @@ pcl::visualization::PCLVisualizerInterac
+ {
+ FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
+
+- ofstream ofs_cam (file.c_str ());
++ std::ofstream ofs_cam (file.c_str ());
+ if (!ofs_cam.is_open ())
+ {
+ return (false);
+diff -up ./visualization/src/pcl_visualizer.cpp.4262 ./visualization/src/pcl_visualizer.cpp
+--- ./visualization/src/pcl_visualizer.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/src/pcl_visualizer.cpp 2021-02-21 21:32:58.323176742 -0500
+@@ -51,7 +51,7 @@
+ #include <vtkPolyDataNormals.h>
+ #include <vtkMapper.h>
+ #include <vtkDataSetMapper.h>
+-
++#include <vtkCellArray.h>
+ #include <vtkHardwareSelector.h>
+ #include <vtkSelectionNode.h>
+
+@@ -60,6 +60,7 @@
+
+ #include <pcl/visualization/boost.h>
+ #include <pcl/visualization/vtk/vtkRenderWindowInteractorFix.h>
++#include <pcl/visualization/vtk/pcl_vtk_compatibility.h>
+
+ #if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
+ #include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
+@@ -82,7 +83,6 @@
+ #include <vtkAxesActor.h>
+ #include <vtkRenderWindowInteractor.h>
+ #include <vtkAreaPicker.h>
+-#include <vtkXYPlotActor.h>
+ #include <vtkOpenGLRenderWindow.h>
+ #include <vtkJPEGReader.h>
+ #include <vtkBMPReader.h>
+@@ -122,6 +122,63 @@
+ #undef far
+ #endif
+
++vtkIdType
++pcl::visualization::details::fillCells(std::vector<int>& lookup, const std::vector<pcl::Vertices>& vertices, vtkSmartPointer<vtkCellArray> cell_array, int max_size_of_polygon)
++{
++#ifdef VTK_CELL_ARRAY_V2
++ pcl::utils::ignore(max_size_of_polygon);
++
++ if (!lookup.empty())
++ {
++ for (const auto& verti : vertices)
++ {
++ std::size_t n_points = verti.vertices.size();
++ cell_array->InsertNextCell(n_points);
++ for (const auto& vertj : verti.vertices)
++ cell_array->InsertCellPoint(lookup[vertj]);
++ }
++ }
++ else
++ {
++ for (const auto& verti : vertices)
++ {
++ std::size_t n_points = verti.vertices.size();
++ cell_array->InsertNextCell(n_points);
++ for (const auto& vertj : verti.vertices)
++ cell_array->InsertCellPoint(vertj);
++ }
++ }
++#else
++ vtkIdType* cell = cell_array->WritePointer(vertices.size(), vertices.size() * (max_size_of_polygon + 1));
++
++ if (!lookup.empty())
++ {
++ for (const auto& verti : vertices)
++ {
++ std::size_t n_points = verti.vertices.size();
++ *cell++ = n_points;
++ for (const auto& vertj : verti.vertices)
++ *cell++ = lookup[vertj];
++ }
++ }
++ else
++ {
++ for (const auto& verti : vertices)
++ {
++ std::size_t n_points = verti.vertices.size();
++ *cell++ = n_points;
++ for (const auto& vertj : verti.vertices)
++ *cell++ = vertj;
++ }
++ }
++#endif
++
++ const auto idx = vertices.size() + std::accumulate(vertices.begin(), vertices.end(), static_cast<vtkIdType>(0),
++ [](const auto& sum, const auto& vertex) { return sum + vertex.vertices.size(); });
++
++ return idx;
++}
++
+ /////////////////////////////////////////////////////////////////////////////////////////////
+ pcl::visualization::PCLVisualizer::PCLVisualizer (const std::string &name, const bool create_interactor)
+ : update_fps_ (vtkSmartPointer<FPSCallback>::New ())
+@@ -521,13 +578,14 @@ void
+ pcl::visualization::PCLVisualizer::spinOnce (int time, bool force_redraw)
+ {
+ resetStoppedFlag ();
+- #if (defined (__APPLE__))
+- if (!win_->IsDrawable ())
+- {
+- close ();
+- return;
+- }
+- #endif
++
++#if VTK_MAJOR_VERSION < 9 && defined (__APPLE__)
++ if (!win_->IsDrawable ())
++ {
++ close ();
++ return;
++ }
++#endif
+
+ if (!interactor_)
+ return;
+@@ -1262,7 +1320,6 @@ pcl::visualization::PCLVisualizer::creat
+ //actor->SetNumberOfCloudPoints (std::max<vtkIdType> (1, data->GetNumberOfPoints () / 10));
+ actor->GetProperty ()->SetInterpolationToFlat ();
+ }
+-
+ /////////////////////////////////////////////////////////////////////////////////////////////
+ void
+ pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData (
+@@ -1291,10 +1348,36 @@ pcl::visualization::PCLVisualizer::conve
+ if (!vertices)
+ vertices = vtkSmartPointer<vtkCellArray>::New ();
+
++#ifdef VTK_CELL_ARRAY_V2
++ // TODO: Remove when VTK 6,7,8 is unsupported
++ pcl::utils::ignore(initcells);
++
++ auto numOfCells = vertices->GetNumberOfCells();
++
++ // If we have less cells than points, add new cells.
++ if (numOfCells < nr_points)
++ {
++ for (int i = numOfCells; i < nr_points; i++)
++ {
++ vertices->InsertNextCell(1);
++ vertices->InsertCellPoint(i);
++ }
++ }
++ // if we too many cells than points, set size (doesn't free excessive memory)
++ else if (numOfCells > nr_points)
++ {
++ vertices->ResizeExact(nr_points, nr_points);
++ }
++
++ polydata->SetPoints(points);
++ polydata->SetVerts(vertices);
++
++#else
+ vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
+ updateCells (cells, initcells, nr_points);
+ // Set the cells and the vertices
+ vertices->SetCells (nr_points, cells);
++#endif
+ }
+
+ //////////////////////////////////////////////////////////////////////////////////////////////
+@@ -3160,28 +3243,9 @@ pcl::visualization::PCLVisualizer::updat
+
+ // Update the cells
+ cells = vtkSmartPointer<vtkCellArray>::New ();
+- vtkIdType *cell = cells->WritePointer (verts.size (), verts.size () * (max_size_of_polygon + 1));
+- int idx = 0;
+- if (!lookup.empty ())
+- {
+- for (std::size_t i = 0; i < verts.size (); ++i, ++idx)
+- {
+- std::size_t n_points = verts[i].vertices.size ();
+- *cell++ = n_points;
+- for (std::size_t j = 0; j < n_points; j++, cell++, ++idx)
+- *cell = lookup[verts[i].vertices[j]];
+- }
+- }
+- else
+- {
+- for (std::size_t i = 0; i < verts.size (); ++i, ++idx)
+- {
+- std::size_t n_points = verts[i].vertices.size ();
+- *cell++ = n_points;
+- for (std::size_t j = 0; j < n_points; j++, cell++, ++idx)
+- *cell = verts[i].vertices[j];
+- }
+- }
++
++ const auto idx = details::fillCells(lookup, verts, cells, max_size_of_polygon);
++
+ cells->GetData ()->SetNumberOfValues (idx);
+ cells->Squeeze ();
+ // Set the the vertices
+@@ -3552,7 +3616,8 @@ pcl::visualization::PCLVisualizer::rende
+
+ //center object
+ double CoM[3];
+- vtkIdType npts_com = 0, *ptIds_com = nullptr;
++ vtkIdType npts_com = 0;
++ vtkCellPtsPtr ptIds_com = nullptr;
+ vtkSmartPointer<vtkCellArray> cells_com = polydata->GetPolys ();
+
+ double center[3], p1_com[3], p2_com[3], p3_com[3], totalArea_com = 0;
+@@ -3611,10 +3676,11 @@ pcl::visualization::PCLVisualizer::rende
+ // * Compute area of the mesh
+ //////////////////////////////
+ vtkSmartPointer<vtkCellArray> cells = mapper->GetInput ()->GetPolys ();
+- vtkIdType npts = 0, *ptIds = nullptr;
++ vtkIdType npts = 0;
++ vtkCellPtsPtr ptIds = nullptr;
+
+ double p1[3], p2[3], p3[3], totalArea = 0;
+- for (cells->InitTraversal (); cells->GetNextCell (npts, ptIds);)
++ for (cells->InitTraversal (); cells->GetNextCell(npts, ptIds);)
+ {
+ polydata->GetPoint (ptIds[0], p1);
+ polydata->GetPoint (ptIds[1], p2);
+@@ -3830,7 +3896,8 @@ pcl::visualization::PCLVisualizer::rende
+ polydata->BuildCells ();
+
+ vtkSmartPointer<vtkCellArray> cells = polydata->GetPolys ();
+- vtkIdType npts = 0, *ptIds = nullptr;
++ vtkIdType npts = 0;
++ vtkCellPtsPtr ptIds = nullptr;
+
+ double p1[3], p2[3], p3[3], area, totalArea = 0;
+ for (cells->InitTraversal (); cells->GetNextCell (npts, ptIds);)
+@@ -4040,9 +4107,9 @@ pcl::visualization::PCLVisualizer::fromH
+
+ vtkSmartPointer<vtkPolyData> polydata;
+ vtkSmartPointer<vtkIdTypeArray> initcells;
++
+ // Convert the PointCloud to VTK PolyData
+ convertPointCloudToVTKPolyData (geometry_handler, polydata, initcells);
+- // use the given geometry handler
+
+ // Get the colors from the handler
+ bool has_colors = false;
+diff -up ./visualization/src/point_picking_event.cpp.4262 ./visualization/src/point_picking_event.cpp
+--- ./visualization/src/point_picking_event.cpp.4262 2020-08-14 08:23:03.000000000 -0400
++++ ./visualization/src/point_picking_event.cpp 2021-02-21 21:32:58.323176742 -0500
+@@ -49,7 +49,6 @@
+ #include <vtkPointData.h>
+ #include <vtkVertexGlyphFilter.h>
+ #include <vtkPlanes.h>
+-#include <vtkXYPlotActor.h>
+ #include <vtkRenderer.h>
+ #include <vtkRenderWindow.h>
+
diff --git a/pcl.spec b/pcl.spec
index 9a38932..e829153 100644
--- a/pcl.spec
+++ b/pcl.spec
@@ -4,8 +4,8 @@
%global apiversion 1.11
Name: pcl
-Version: 1.11.0
-Release: 6%{?dist}
+Version: 1.11.1
+Release: 1%{?dist}
Summary: Library for point cloud processing
License: BSD
URL: http://pointclouds.org/
@@ -27,6 +27,9 @@ Patch3: %{name}-1.11.0-doxyfix.patch
Patch4: %{name}-1.11.0-oom.patch
# Use a built-in sphinx documentation theme and disable doxylink plugin
Patch5: %{name}-1.11.0-sphinx.patch
+# Apply upstream patch for VTK6 compatibility
+# https://patch-diff.githubusercontent.com/raw/PointCloudLibrary/pcl/pull/4262.patch
+Patch6: 4262.patch
# For plain building
BuildRequires: cmake, gcc-c++, boost-devel
@@ -89,6 +92,7 @@ Library.
%patch3 -p0 -b .doxyfix
%patch4 -p1 -b .oom
%patch5 -p1 -b .sphinx
+%patch6 -p1 -b .4262
# Just to make it obvious we're not using any of these
rm -fr recognition/include/pcl/recognition/3rdparty/metslib
@@ -187,6 +191,10 @@ mv $RPM_BUILD_ROOT%{_datadir}/%{name}-*/Modules $RPM_BUILD_ROOT%{_libdir}/cmake/
%doc %{_vpath_builddir}/doc/advanced/advanced
%changelog
+* Mon Feb 22 2021 Rich Mattes <richmattes@gmail.com> - 1.11.1-1
+- Update to 1.11.1
+- Backport upstream patch to build against VTK 9.0 (rhbz#1840974)
+
* Tue Jan 26 2021 Fedora Release Engineering <releng@fedoraproject.org> - 1.11.0-6
- Rebuilt for https://fedoraproject.org/wiki/Fedora_34_Mass_Rebuild
diff --git a/sources b/sources
index 120769f..56b6fc1 100644
--- a/sources
+++ b/sources
@@ -1 +1 @@
-SHA512 (pcl-1.11.0-fedora.tar.xz) = cd034306fe0707def412bcafe8f996f885b1651f92fd09021248c4d8fd08e0ab4b6af358fc6bf759e2f01abd074fa18dc5b869ad8a714d03a890b2c9a9b82ffb
+SHA512 (pcl-1.11.1-fedora.tar.xz) = 0c7637df4718854eed19771bcd6227f01b51552bd858d9cccc62963a06707e1c3b80c5c31e1288f7313d34e17b9723e601c9b21324de916fb9c8b19d442160b8
reply other threads:[~2026-06-25 5:50 UTC|newest]
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