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From: Adam Williamson <awilliam@redhat.com>
To: git-commits@fedoraproject.org
Subject: [rpms/pcl] f44: Update to 1.12.0, rediff some patches
Date: Thu, 25 Jun 2026 05:50:06 GMT [thread overview]
Message-ID: <178236660688.1.1355024039970332869.rpms-pcl-2c52a56c6802@fedoraproject.org> (raw)
A new commit has been pushed.
Repo : rpms/pcl
Branch : f44
Commit : 2c52a56c6802406dedfaf6cb39984241cad05fd5
Author : Adam Williamson <awilliam@redhat.com>
Date : 2021-08-17T12:37:20-07:00
Stats : +9/-3370 in 2 file(s)
URL : https://src.fedoraproject.org/rpms/pcl/c/2c52a56c6802406dedfaf6cb39984241cad05fd5?branch=f44
Log:
Update to 1.12.0, rediff some patches
This does not yet build, but gets further than before. Committing
it for Rich to build off of; see
https://bugzilla.redhat.com/show_bug.cgi?id=1992893
---
diff --git a/4262.patch b/4262.patch
deleted file mode 100644
index 0ad7df6..0000000
--- a/4262.patch
+++ /dev/null
@@ -1,3361 +0,0 @@
-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 37ad1f0..f1e58fa 100644
--- a/pcl.spec
+++ b/pcl.spec
@@ -4,8 +4,8 @@
%global apiversion 1.11
Name: pcl
-Version: 1.11.1
-Release: 8%{?dist}
+Version: 1.12.0
+Release: 1%{?dist}
Summary: Library for point cloud processing
License: BSD
URL: http://pointclouds.org/
@@ -16,20 +16,17 @@ Source0: %{name}-%{version}-fedora.tar.xz
Source1: create_tarball_pcl.sh
# Only enable sse2, and only on x86_64
-Patch0: %{name}-1.11.0-sse2.patch
+Patch0: %{name}-1.12.0-sse2.patch
# Look for external metslib, not upstream
-Patch1: %{name}-1.11.0-metslib.patch
+Patch1: %{name}-1.12.0-metslib.patch
# Patch for PCLConfig.cmake to find pcl
-Patch2: %{name}-1.11.0-fedora.patch
+Patch2: %{name}-1.12.0-fedora.patch
# Exclude the "build" directory from doxygen processing.
Patch3: %{name}-1.11.0-doxyfix.patch
# Split up explicit template instantiations so that builders don't run out of memory
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
@@ -94,7 +91,7 @@ Library.
%patch3 -p0 -b .doxyfix
%patch4 -p1 -b .oom
%patch5 -p1 -b .sphinx
-%patch6 -p1 -b .4262
+%patch6 -p1 -b .boost176
# Just to make it obvious we're not using any of these
rm -fr recognition/include/pcl/recognition/3rdparty/metslib
@@ -193,6 +190,9 @@ mv $RPM_BUILD_ROOT%{_datadir}/%{name}-*/Modules $RPM_BUILD_ROOT%{_libdir}/cmake/
%doc %{_vpath_builddir}/doc/advanced/advanced
%changelog
+* Fri Aug 13 2021 Adam Williamson <awilliam@redhat.com> - 1.12.0-1
+- Update to 1.12.0 (see if it builds with Boost 1.76)
+
* Fri Aug 06 2021 Jonathan Wakely <jwakely@redhat.com> - 1.11.1-8
- Rebuilt for Boost 1.76
reply other threads:[~2026-06-25 5:50 UTC|newest]
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