Add support for VTK 9

2d/CMakeLists.txt

@@ -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()
 

CMakeLists.txt

@@ -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()

apps/3d_rec_framework/CMakeLists.txt

@@ -9,7 +9,6 @@ if(NOT VTK_FOUND)
 else()
   set(DEFAULT TRUE)
   set(REASON)
-  include("${VTK_USE_FILE}")
 endif()
 
 # OpenNI found?

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <pcl/visualization/vtk/pcl_vtk_compatibility.h>
+
 #include <vtkCellArray.h>
 #include <vtkPLYReader.h>
 #include <vtkPolyData.h>
@@ -72,7 +74,7 @@ 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)
@@ -96,7 +98,9 @@ uniform_sampling(const vtkSmartPointer<vtkPolyData>& polydata,
   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);

apps/CMakeLists.txt

@@ -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)

apps/cloud_composer/CMakeLists.txt

@@ -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)

apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h

@@ -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_;

apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h

@@ -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>;

apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h

@@ -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_;
     };
 

apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h

@@ -39,6 +39,8 @@
 
 #include <pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h>
 
+#include <vtkInteractorStyleTrackballActor.h>
+
 namespace pcl
 {
   namespace cloud_composer

apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h

@@ -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

apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h

@@ -37,7 +37,6 @@
 
 #pragma once
 
-#include <pcl/visualization/vtk.h>
 #include <pcl/apps/cloud_composer/items/cloud_item.h>
 
 namespace pcl

apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h

@@ -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