diff --git a/.ci_support/linux_64_.yaml b/.ci_support/linux_64_.yaml index 94fc60f..36ffd33 100644 --- a/.ci_support/linux_64_.yaml +++ b/.ci_support/linux_64_.yaml @@ -14,13 +14,21 @@ docker_image: - quay.io/condaforge/linux-anvil-comp7 flann: - 1.9.1 +glew: +- '2.1' pin_run_as_build: boost-cpp: max_pin: x.x.x flann: max_pin: x.x.x + glew: + max_pin: x.x + vtk: + max_pin: x.x.x target_platform: - linux-64 +vtk: +- 9.0.1 zip_keys: - - cdt_name - docker_image diff --git a/.ci_support/linux_aarch64_.yaml b/.ci_support/linux_aarch64_.yaml index 6a82abe..8059f3b 100644 --- a/.ci_support/linux_aarch64_.yaml +++ b/.ci_support/linux_aarch64_.yaml @@ -18,10 +18,18 @@ docker_image: - quay.io/condaforge/linux-anvil-comp7 flann: - 1.9.1 +glew: +- '2.1' pin_run_as_build: boost-cpp: max_pin: x.x.x flann: max_pin: x.x.x + glew: + max_pin: x.x + vtk: + max_pin: x.x.x target_platform: - linux-aarch64 +vtk: +- 9.0.1 diff --git a/.ci_support/linux_ppc64le_.yaml b/.ci_support/linux_ppc64le_.yaml index 19fc3b5..4127500 100644 --- a/.ci_support/linux_ppc64le_.yaml +++ b/.ci_support/linux_ppc64le_.yaml @@ -14,10 +14,18 @@ docker_image: - quay.io/condaforge/linux-anvil-comp7 flann: - 1.9.1 +glew: +- '2.1' pin_run_as_build: boost-cpp: max_pin: x.x.x flann: max_pin: x.x.x + glew: + max_pin: x.x + vtk: + max_pin: x.x.x target_platform: - linux-ppc64le +vtk: +- 9.0.1 diff --git a/.ci_support/osx_64_.yaml b/.ci_support/osx_64_.yaml index 281639c..769a60d 100644 --- a/.ci_support/osx_64_.yaml +++ b/.ci_support/osx_64_.yaml @@ -1,5 +1,7 @@ MACOSX_DEPLOYMENT_TARGET: -- '10.9' +- '10.12' +MACOSX_SDK_VERSION: +- '10.12' boost_cpp: - 1.74.0 channel_sources: @@ -12,6 +14,8 @@ cxx_compiler_version: - '11' flann: - 1.9.1 +glew: +- '2.1' macos_machine: - x86_64-apple-darwin13.4.0 pin_run_as_build: @@ -19,5 +23,11 @@ pin_run_as_build: max_pin: x.x.x flann: max_pin: x.x.x + glew: + max_pin: x.x + vtk: + max_pin: x.x.x target_platform: - osx-64 +vtk: +- 9.0.1 diff --git a/.ci_support/win_64_.yaml b/.ci_support/win_64_.yaml index 7e4a2c5..95d38ff 100644 --- a/.ci_support/win_64_.yaml +++ b/.ci_support/win_64_.yaml @@ -8,10 +8,18 @@ cxx_compiler: - vs2017 flann: - 1.9.1 +glew: +- '2.1' pin_run_as_build: boost-cpp: max_pin: x.x.x flann: max_pin: x.x.x + glew: + max_pin: x.x + vtk: + max_pin: x.x.x target_platform: - win-64 +vtk: +- 9.0.1 diff --git a/.scripts/build_steps.sh b/.scripts/build_steps.sh index 8a4b0d3..99baf86 100755 --- a/.scripts/build_steps.sh +++ b/.scripts/build_steps.sh @@ -6,8 +6,15 @@ # benefit from the improvement. set -xeuo pipefail -export PYTHONUNBUFFERED=1 export FEEDSTOCK_ROOT="${FEEDSTOCK_ROOT:-/home/conda/feedstock_root}" +source ${FEEDSTOCK_ROOT}/.scripts/logging_utils.sh + + +( endgroup "Start Docker" ) 2> /dev/null + +( startgroup "Configuring conda" ) 2> /dev/null + +export PYTHONUNBUFFERED=1 export RECIPE_ROOT="${RECIPE_ROOT:-/home/conda/recipe_root}" export CI_SUPPORT="${FEEDSTOCK_ROOT}/.ci_support" export CONFIG_FILE="${CI_SUPPORT}/${CONFIG}.yaml" @@ -18,8 +25,9 @@ conda-build: root-dir: ${FEEDSTOCK_ROOT}/build_artifacts CONDARC +BUILD_CMD=build -conda install --yes --quiet "conda-forge-ci-setup=3" conda-build pip -c conda-forge +conda install --yes --quiet "conda-forge-ci-setup=3" conda-build pip ${GET_BOA:-} -c conda-forge # set up the condarc setup_conda_rc "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}" @@ -29,11 +37,13 @@ source run_conda_forge_build_setup # make the build number clobber make_build_number "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}" -if [[ "${HOST_PLATFORM}" != "${BUILD_PLATFORM}" ]]; then +if [[ "${HOST_PLATFORM}" != "${BUILD_PLATFORM}" ]] && [[ "${BUILD_WITH_CONDA_DEBUG:-0}" != 1 ]]; then EXTRA_CB_OPTIONS="${EXTRA_CB_OPTIONS:-} --no-test" fi +( endgroup "Configuring conda" ) 2> /dev/null + if [[ "${BUILD_WITH_CONDA_DEBUG:-0}" == 1 ]]; then if [[ "x${BUILD_OUTPUT_ID:-}" != "x" ]]; then EXTRA_CB_OPTIONS="${EXTRA_CB_OPTIONS:-} --output-id ${BUILD_OUTPUT_ID}" @@ -41,17 +51,28 @@ if [[ "${BUILD_WITH_CONDA_DEBUG:-0}" == 1 ]]; then conda debug "${RECIPE_ROOT}" -m "${CI_SUPPORT}/${CONFIG}.yaml" \ ${EXTRA_CB_OPTIONS:-} \ --clobber-file "${CI_SUPPORT}/clobber_${CONFIG}.yaml" + # Drop into an interactive shell /bin/bash else - conda build "${RECIPE_ROOT}" -m "${CI_SUPPORT}/${CONFIG}.yaml" \ + conda $BUILD_CMD "${RECIPE_ROOT}" -m "${CI_SUPPORT}/${CONFIG}.yaml" \ --suppress-variables ${EXTRA_CB_OPTIONS:-} \ --clobber-file "${CI_SUPPORT}/clobber_${CONFIG}.yaml" + ( startgroup "Validating outputs" ) 2> /dev/null + validate_recipe_outputs "${FEEDSTOCK_NAME}" + ( endgroup "Validating outputs" ) 2> /dev/null + + ( startgroup "Uploading packages" ) 2> /dev/null + if [[ "${UPLOAD_PACKAGES}" != "False" ]]; then upload_package --validate --feedstock-name="${FEEDSTOCK_NAME}" "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}" fi + + ( endgroup "Uploading packages" ) 2> /dev/null fi +( startgroup "Final checks" ) 2> /dev/null + touch "${FEEDSTOCK_ROOT}/build_artifacts/conda-forge-build-done-${CONFIG}" \ No newline at end of file diff --git a/.scripts/logging_utils.sh b/.scripts/logging_utils.sh new file mode 100644 index 0000000..57bc95c --- /dev/null +++ b/.scripts/logging_utils.sh @@ -0,0 +1,35 @@ +#!/bin/bash + +# Provide a unified interface for the different logging +# utilities CI providers offer. If unavailable, provide +# a compatible fallback (e.g. bare `echo xxxxxx`). + +function startgroup { + # Start a foldable group of log lines + # Pass a single argument, quoted + case ${CI:-} in + azure ) + echo "##[group]$1";; + travis ) + echo "$1" + echo -en 'travis_fold:start:'"${1// /}"'\\r';; + github_actions ) + echo "::group::$1";; + * ) + echo "$1";; + esac +} 2> /dev/null + +function endgroup { + # End a foldable group of log lines + # Pass a single argument, quoted + + case ${CI:-} in + azure ) + echo "##[endgroup]";; + travis ) + echo -en 'travis_fold:end:'"${1// /}"'\\r';; + github_actions ) + echo "::endgroup::";; + esac +} 2> /dev/null diff --git a/.scripts/run_docker_build.sh b/.scripts/run_docker_build.sh index 36dacd6..244ccd1 100755 --- a/.scripts/run_docker_build.sh +++ b/.scripts/run_docker_build.sh @@ -5,6 +5,10 @@ # changes to this script, consider a proposal to conda-smithy so that other feedstocks can also # benefit from the improvement. +source .scripts/logging_utils.sh + +( startgroup "Configure Docker" ) 2> /dev/null + set -xeo pipefail THISDIR="$( cd "$( dirname "$0" )" >/dev/null && pwd )" @@ -48,11 +52,11 @@ if [ -z "${DOCKER_IMAGE}" ]; then echo "WARNING: DOCKER_IMAGE variable not set and shyaml not installed. Trying to parse with coreutils" DOCKER_IMAGE=$(cat .ci_support/${CONFIG}.yaml | grep '^docker_image:$' -A 1 | tail -n 1 | cut -b 3-) if [ "${DOCKER_IMAGE}" = "" ]; then - echo "No docker_image entry found in ${CONFIG}. Falling back to condaforge/linux-anvil-comp7" - DOCKER_IMAGE="condaforge/linux-anvil-comp7" + echo "No docker_image entry found in ${CONFIG}. Falling back to quay.io/condaforge/linux-anvil-comp7" + DOCKER_IMAGE="quay.io/condaforge/linux-anvil-comp7" fi else - DOCKER_IMAGE="$(cat "${FEEDSTOCK_ROOT}/.ci_support/${CONFIG}.yaml" | shyaml get-value docker_image.0 condaforge/linux-anvil-comp7 )" + DOCKER_IMAGE="$(cat "${FEEDSTOCK_ROOT}/.ci_support/${CONFIG}.yaml" | shyaml get-value docker_image.0 quay.io/condaforge/linux-anvil-comp7 )" fi fi @@ -66,6 +70,10 @@ if [ -z "${CI}" ]; then DOCKER_RUN_ARGS="-it ${DOCKER_RUN_ARGS}" fi +( endgroup "Configure Docker" ) 2> /dev/null + +( startgroup "Start Docker" ) 2> /dev/null + export UPLOAD_PACKAGES="${UPLOAD_PACKAGES:-True}" docker run ${DOCKER_RUN_ARGS} \ -v "${RECIPE_ROOT}":/home/conda/recipe_root:rw,z,delegated \ @@ -88,4 +96,7 @@ docker run ${DOCKER_RUN_ARGS} \ /home/conda/feedstock_root/${PROVIDER_DIR}/build_steps.sh # verify that the end of the script was reached -test -f "$DONE_CANARY" \ No newline at end of file +test -f "$DONE_CANARY" + +# This closes the last group opened in `build_steps.sh` +( endgroup "Final checks" ) 2> /dev/null \ No newline at end of file diff --git a/.scripts/run_osx_build.sh b/.scripts/run_osx_build.sh index 3675dac..708b1e1 100755 --- a/.scripts/run_osx_build.sh +++ b/.scripts/run_osx_build.sh @@ -1,61 +1,73 @@ #!/usr/bin/env bash -set -x +source .scripts/logging_utils.sh + +set -xe + +MINIFORGE_HOME=${MINIFORGE_HOME:-${HOME}/miniforge3} + +( startgroup "Installing a fresh version of Miniforge" ) 2> /dev/null -echo -e "\n\nInstalling a fresh version of Miniforge." -if [[ ${CI} == "travis" ]]; then - echo -en 'travis_fold:start:install_miniforge\\r' -fi MINIFORGE_URL="https://github.com/conda-forge/miniforge/releases/latest/download" MINIFORGE_FILE="Miniforge3-MacOSX-x86_64.sh" curl -L -O "${MINIFORGE_URL}/${MINIFORGE_FILE}" -bash $MINIFORGE_FILE -b -if [[ ${CI} == "travis" ]]; then - echo -en 'travis_fold:end:install_miniforge\\r' -fi +bash $MINIFORGE_FILE -b -p ${MINIFORGE_HOME} -echo -e "\n\nConfiguring conda." -if [[ ${CI} == "travis" ]]; then - echo -en 'travis_fold:start:configure_conda\\r' -fi +( endgroup "Installing a fresh version of Miniforge" ) 2> /dev/null + +( startgroup "Configuring conda" ) 2> /dev/null -source ${HOME}/miniforge3/etc/profile.d/conda.sh +BUILD_CMD=build + +source ${MINIFORGE_HOME}/etc/profile.d/conda.sh conda activate base echo -e "\n\nInstalling conda-forge-ci-setup=3 and conda-build." -conda install -n base --quiet --yes "conda-forge-ci-setup=3" conda-build pip +conda install -n base --quiet --yes "conda-forge-ci-setup=3" conda-build pip ${GET_BOA:-} echo -e "\n\nSetting up the condarc and mangling the compiler." setup_conda_rc ./ ./recipe ./.ci_support/${CONFIG}.yaml -mangle_compiler ./ ./recipe .ci_support/${CONFIG}.yaml -echo -e "\n\nMangling homebrew in the CI to avoid conflicts." -/usr/bin/sudo mangle_homebrew -/usr/bin/sudo -k +if [[ "${CI:-}" != "" ]]; then + mangle_compiler ./ ./recipe .ci_support/${CONFIG}.yaml +fi + +if [[ "${CI:-}" != "" ]]; then + echo -e "\n\nMangling homebrew in the CI to avoid conflicts." + /usr/bin/sudo mangle_homebrew + /usr/bin/sudo -k +else + echo -e "\n\nNot mangling homebrew as we are not running in CI" +fi echo -e "\n\nRunning the build setup script." source run_conda_forge_build_setup -if [[ ${CI} == "travis" ]]; then - echo -en 'travis_fold:end:configure_conda\\r' -fi -set -e +( endgroup "Configuring conda" ) 2> /dev/null -echo -e "\n\nMaking the build clobber file and running the build." + +echo -e "\n\nMaking the build clobber file" make_build_number ./ ./recipe ./.ci_support/${CONFIG}.yaml if [[ "${HOST_PLATFORM}" != "${BUILD_PLATFORM}" ]]; then EXTRA_CB_OPTIONS="${EXTRA_CB_OPTIONS:-} --no-test" fi -conda build ./recipe -m ./.ci_support/${CONFIG}.yaml --suppress-variables --clobber-file ./.ci_support/clobber_${CONFIG}.yaml ${EXTRA_CB_OPTIONS:-} +conda $BUILD_CMD ./recipe -m ./.ci_support/${CONFIG}.yaml --suppress-variables --clobber-file ./.ci_support/clobber_${CONFIG}.yaml ${EXTRA_CB_OPTIONS:-} +( startgroup "Validating outputs" ) 2> /dev/null + validate_recipe_outputs "${FEEDSTOCK_NAME}" +( endgroup "Validating outputs" ) 2> /dev/null + +( startgroup "Uploading packages" ) 2> /dev/null + if [[ "${UPLOAD_PACKAGES}" != "False" ]]; then - echo -e "\n\nUploading the packages." upload_package --validate --feedstock-name="${FEEDSTOCK_NAME}" ./ ./recipe ./.ci_support/${CONFIG}.yaml -fi \ No newline at end of file +fi + +( endgroup "Uploading packages" ) 2> /dev/null \ No newline at end of file diff --git a/LICENSE.txt b/LICENSE.txt index 5f30279..ed3f451 100644 --- a/LICENSE.txt +++ b/LICENSE.txt @@ -1,5 +1,5 @@ BSD 3-clause license -Copyright (c) 2015-2020, conda-forge contributors +Copyright (c) 2015-2021, conda-forge contributors All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: diff --git a/README.md b/README.md index 39fc8f8..653ef65 100644 --- a/README.md +++ b/README.md @@ -90,6 +90,7 @@ Installing `pcl` from the `conda-forge` channel can be achieved by adding `conda ``` conda config --add channels conda-forge +conda config --set channel_priority strict ``` Once the `conda-forge` channel has been enabled, `pcl` can be installed with: @@ -160,9 +161,9 @@ build distinct package versions. In order to produce a uniquely identifiable distribution: * If the version of a package **is not** being increased, please add or increase - the [``build/number``](https://conda.io/docs/user-guide/tasks/build-packages/define-metadata.html#build-number-and-string). + the [``build/number``](https://docs.conda.io/projects/conda-build/en/latest/resources/define-metadata.html#build-number-and-string). * If the version of a package **is** being increased, please remember to return - the [``build/number``](https://conda.io/docs/user-guide/tasks/build-packages/define-metadata.html#build-number-and-string) + the [``build/number``](https://docs.conda.io/projects/conda-build/en/latest/resources/define-metadata.html#build-number-and-string) back to 0. Feedstock Maintainers diff --git a/build-locally.py b/build-locally.py index 3453cfe..00eeb34 100755 --- a/build-locally.py +++ b/build-locally.py @@ -7,6 +7,7 @@ import glob import subprocess from argparse import ArgumentParser +import platform def setup_environment(ns): @@ -16,6 +17,10 @@ def setup_environment(ns): os.environ["BUILD_WITH_CONDA_DEBUG"] = "1" if ns.output_id: os.environ["BUILD_OUTPUT_ID"] = ns.output_id + if "MINIFORGE_HOME" not in os.environ: + os.environ["MINIFORGE_HOME"] = os.path.join( + os.path.dirname(__file__), "miniforge3" + ) def run_docker_build(ns): @@ -23,6 +28,11 @@ def run_docker_build(ns): subprocess.check_call([script]) +def run_osx_build(ns): + script = ".scripts/run_osx_build.sh" + subprocess.check_call([script]) + + def verify_config(ns): valid_configs = { os.path.basename(f)[:-5] for f in glob.glob(".ci_support/*.yaml") @@ -46,10 +56,16 @@ def verify_config(ns): else: raise ValueError("config " + ns.config + " is not valid") # Remove the following, as implemented - if not ns.config.startswith("linux"): + if ns.config.startswith("win"): raise ValueError( - f"only Linux configs currently supported, got {ns.config}" + f"only Linux/macOS configs currently supported, got {ns.config}" ) + elif ns.config.startswith("osx") and platform.system() == "Darwin": + if "OSX_SDK_DIR" not in os.environ: + raise RuntimeError( + "Need OSX_SDK_DIR env variable set. Run 'export OSX_SDK_DIR=/opt'" + "to download the SDK automatically to '/opt/MacOSX.sdk'" + ) def main(args=None): @@ -68,7 +84,12 @@ def main(args=None): verify_config(ns) setup_environment(ns) - run_docker_build(ns) + if ns.config.startswith("linux") or ( + ns.config.startswith("osx") and platform.system() == "Linux" + ): + run_docker_build(ns) + elif ns.config.startswith("osx"): + run_osx_build(ns) if __name__ == "__main__": diff --git a/recipe/build.sh b/recipe/build.sh index 15b35ff..d1c7759 100644 --- a/recipe/build.sh +++ b/recipe/build.sh @@ -11,14 +11,14 @@ cmake \ -DWITH_ENSENSO=OFF \ -DWITH_FZAPI=OFF \ -DWITH_LIBUSB=OFF \ - -DWITH_OPENGL=OFF \ + -DWITH_OPENGL=ON \ -DWITH_OPENNI=OFF \ -DWITH_OPENNI2=OFF \ -DWITH_PCAP=OFF \ -DWITH_PNG=OFF \ -DWITH_QHULL=ON \ - -DWITH_QT=OFF \ - -DWITH_VTK=OFF \ + -DWITH_QT=ON \ + -DWITH_VTK=ON \ -DBUILD_global_tests=OFF \ -DBUILD_examples=OFF \ -DBUILD_tools=ON \ diff --git a/recipe/conda_build_config.yaml b/recipe/conda_build_config.yaml new file mode 100644 index 0000000..fb0da90 --- /dev/null +++ b/recipe/conda_build_config.yaml @@ -0,0 +1,5 @@ + +MACOSX_DEPLOYMENT_TARGET: # [osx and x86_64] + - "10.12" # [osx and x86_64] +MACOSX_SDK_VERSION: # [osx and x86_64] + - "10.12" # [osx and x86_64] diff --git a/recipe/fix-visualization.patch b/recipe/fix-visualization.patch new file mode 100644 index 0000000..11d677a --- /dev/null +++ b/recipe/fix-visualization.patch @@ -0,0 +1,3662 @@ +From cf0aea146fd14208ce6651893fb285ab51c55734 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:03:39 +0200 +Subject: [PATCH 01/15] Added compatibility headers. + +--- + pcl_config.h.in | 2 + + visualization/CMakeLists.txt | 1 + + .../pcl/visualization/qvtk_compatibility.h | 50 +++++++++++++++++++ + .../visualization/vtk/pcl_vtk_compatibility.h | 17 +++++++ + 4 files changed, 70 insertions(+) + create mode 100644 visualization/include/pcl/visualization/qvtk_compatibility.h + create mode 100644 visualization/include/pcl/visualization/vtk/pcl_vtk_compatibility.h + +diff --git a/pcl_config.h.in b/pcl_config.h.in +index e373a8e056..3eccb95c97 100644 +--- a/pcl_config.h.in ++++ b/pcl_config.h.in +@@ -95,3 +95,5 @@ + /* Version of OpenGL used by VTK as rendering backend */ + #define VTK_RENDERING_BACKEND_OPENGL_VERSION ${VTK_RENDERING_BACKEND_OPENGL_VERSION} + ++#cmakedefine HAVE_QVTK 1 ++ +diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt +index 990a5f5b2b..260e8b86dc 100644 +--- a/visualization/CMakeLists.txt ++++ b/visualization/CMakeLists.txt +@@ -85,6 +85,7 @@ set(incs + "include/pcl/${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 +diff --git a/visualization/include/pcl/visualization/qvtk_compatibility.h b/visualization/include/pcl/visualization/qvtk_compatibility.h +new file mode 100644 +index 0000000000..e0d9a3928e +--- /dev/null ++++ b/visualization/include/pcl/visualization/qvtk_compatibility.h +@@ -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 ++#include ++ ++#if HAVE_QVTK ++#include ++#include ++ ++#if VTK_MAJOR_VERSION > 8 ++ #include ++ using PCLQVTKWidget = QVTKOpenGLNativeWidget; ++#else ++ #include ++ 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 --git a/visualization/include/pcl/visualization/vtk/pcl_vtk_compatibility.h b/visualization/include/pcl/visualization/vtk/pcl_vtk_compatibility.h +new file mode 100644 +index 0000000000..6eb6598ec1 +--- /dev/null ++++ b/visualization/include/pcl/visualization/vtk/pcl_vtk_compatibility.h +@@ -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 ++ ++#ifdef VTK_CELL_ARRAY_V2 ++ using vtkCellPtsPtr = vtkIdType const*; ++#else ++ using vtkCellPtsPtr = vtkIdType*; ++#endif ++ + +From 5e8ca51a6ea7d5c8223e1b2af8e317ac1358819c Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:04:22 +0200 +Subject: [PATCH 02/15] Added pcl_find_vtk. + +--- + CMakeLists.txt | 74 +----------------- + cmake/pcl_find_vtk.cmake | 164 +++++++++++++++++++++++++++++++++++++++ + 2 files changed, 168 insertions(+), 70 deletions(-) + create mode 100644 cmake/pcl_find_vtk.cmake + +diff --git a/CMakeLists.txt b/CMakeLists.txt +index b7e7e63a15..db1290a1f6 100644 +--- a/CMakeLists.txt ++++ b/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() +diff --git a/cmake/pcl_find_vtk.cmake b/cmake/pcl_find_vtk.cmake +new file mode 100644 +index 0000000000..46a6004a7e +--- /dev/null ++++ b/cmake/pcl_find_vtk.cmake +@@ -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) ++ message(FATAL_ERROR "VTK not found") ++endif() ++ ++if(VTK_FOUND AND (VTK_VERSION VERSION_LESS 6.2)) ++ message(FATAL_ERROR "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(FATAL_ERROR "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: ${VTK_LIBRARIES}") ++endif() + +From c9e644545a0294950a72751f2c07385ebec85661 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:06:43 +0200 +Subject: [PATCH 03/15] Fix IO + +--- + io/CMakeLists.txt | 21 +++++++++++++++++++-- + io/src/vtk_lib_io.cpp | 4 ++++ + 2 files changed, 23 insertions(+), 2 deletions(-) + +diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt +index 4c90e31222..d592a86404 100644 +--- a/io/CMakeLists.txt ++++ b/io/CMakeLists.txt +@@ -329,10 +329,24 @@ endif() + set(LIB_NAME "pcl_${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}" ${PNG_LIBRARIES}) + endif() +@@ -347,6 +361,9 @@ endif() + + if(WITH_OPENNI) + target_link_libraries("${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 --git a/io/src/vtk_lib_io.cpp b/io/src/vtk_lib_io.cpp +index c04f05f32a..b71615cb94 100644 +--- a/io/src/vtk_lib_io.cpp ++++ b/io/src/vtk_lib_io.cpp +@@ -348,7 +348,11 @@ pcl::io::vtk2mesh (const vtkSmartPointer& poly_data, pcl::PolygonMe + + // 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 (); + +From b599862fa057578d3a77a25a5e279413bf47bdfa Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:07:43 +0200 +Subject: [PATCH 04/15] Fix 2d + +--- + 2d/CMakeLists.txt | 2 -- + 1 file changed, 2 deletions(-) + +diff --git a/2d/CMakeLists.txt b/2d/CMakeLists.txt +index 8bd5411e44..437d23fb47 100644 +--- a/2d/CMakeLists.txt ++++ b/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("${VTK_USE_FILE}") + set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkIO vtkImaging) + endif() + + +From 7a55923e34e9621a1a971b20fefebbb383edd23d Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:08:05 +0200 +Subject: [PATCH 05/15] Fix people. + +--- + people/CMakeLists.txt | 2 -- + 1 file changed, 2 deletions(-) + +diff --git a/people/CMakeLists.txt b/people/CMakeLists.txt +index 4778e2f1c5..66cfede896 100644 +--- a/people/CMakeLists.txt ++++ b/people/CMakeLists.txt +@@ -8,8 +8,6 @@ if(NOT VTK_FOUND) + else() + set(DEFAULT TRUE) + set(REASON) +- set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE") +- include("${VTK_USE_FILE}") + include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") + endif() + + +From a19dd9331ba0621858b20d960142158222390df2 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:08:25 +0200 +Subject: [PATCH 06/15] Fix outofcore + +--- + outofcore/tools/CMakeLists.txt | 2 -- + 1 file changed, 2 deletions(-) + +diff --git a/outofcore/tools/CMakeLists.txt b/outofcore/tools/CMakeLists.txt +index 53c63e3940..f33e8b4475 100644 +--- a/outofcore/tools/CMakeLists.txt ++++ b/outofcore/tools/CMakeLists.txt +@@ -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 + +From c55d947f66f83caa2eba3679e78eb904bd815417 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Sun, 8 Nov 2020 20:55:42 +0100 +Subject: [PATCH 07/15] Fix registration + +--- + .../include/pcl/registration/impl/ppf_registration.hpp | 3 ++- + registration/include/pcl/registration/ppf_registration.h | 2 +- + 2 files changed, 3 insertions(+), 2 deletions(-) + +diff --git a/registration/include/pcl/registration/impl/ppf_registration.hpp b/registration/include/pcl/registration/impl/ppf_registration.hpp +index f8fbb48e54..c58df563ea 100644 +--- a/registration/include/pcl/registration/impl/ppf_registration.hpp ++++ b/registration/include/pcl/registration/impl/ppf_registration.hpp +@@ -84,7 +84,7 @@ pcl::PPFRegistration::computeTransformation (PointClou + PoseWithVotesList voted_poses; + // Consider every -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_) ++ for (index_t scene_reference_index = 0; scene_reference_index < static_cast(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 --git a/registration/include/pcl/registration/ppf_registration.h b/registration/include/pcl/registration/ppf_registration.h +index fb4f0d8d1c..602cce85ea 100644 +--- a/registration/include/pcl/registration/ppf_registration.h ++++ b/registration/include/pcl/registration/ppf_registration.h +@@ -260,7 +260,7 @@ namespace pcl + PPFHashMapSearch::Ptr search_method_; + + /** \brief parameter for the sampling rate of the scene reference points */ +- unsigned int scene_reference_point_sampling_rate_; ++ uindex_t scene_reference_point_sampling_rate_; + + /** \brief position and rotation difference thresholds below which two + * poses are considered to be in the same cluster (for the clustering phase of the algorithm) */ + +From b7f077396ae612535df7aa83f8abe9f16bfc77a0 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:08:42 +0200 +Subject: [PATCH 08/15] Fix surface. + +--- + surface/CMakeLists.txt | 26 +++++++++++++++++++------ + surface/src/vtk_smoothing/vtk_utils.cpp | 5 +++++ + 2 files changed, 25 insertions(+), 6 deletions(-) + +diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt +index e5e4231138..6ab1917f08 100644 +--- a/surface/CMakeLists.txt ++++ b/surface/CMakeLists.txt +@@ -4,7 +4,7 @@ set(SUBSYS_DEPS common search kdtree octree) + + 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}") + +@@ -149,19 +149,32 @@ 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 ${SUBSYS_DEPS}) + + # Install include files +@@ -178,6 +191,7 @@ endif() + if(VTK_FOUND AND NOT ANDROID) + PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/vtk_smoothing" ${VTK_SMOOTHING_INCLUDES}) + endif() ++ + if(WIN32) + target_link_libraries("${LIB_NAME}" Rpcrt4.lib) + endif() +diff --git a/surface/src/vtk_smoothing/vtk_utils.cpp b/surface/src/vtk_smoothing/vtk_utils.cpp +index d2cc1aa617..8c0a944964 100644 +--- a/surface/src/vtk_smoothing/vtk_utils.cpp ++++ b/surface/src/vtk_smoothing/vtk_utils.cpp +@@ -48,6 +48,7 @@ + #include + #include + #include ++#include + + // Support for VTK 7.1 upwards + #ifdef vtkGenericDataArray_h +@@ -154,7 +155,11 @@ pcl::VTKUtils::vtk2mesh (const vtkSmartPointer& poly_data, pcl::Pol + } + + 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 (); + +From 0ac66840b23a78c11b220c2141d57c9eac527a70 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:09:03 +0200 +Subject: [PATCH 09/15] Fix visualization. + +--- + cmake/pcl_find_vtk.cmake | 4 +- + visualization/CMakeLists.txt | 61 ++++++- + .../pcl/visualization/common/actor_map.h | 1 + + .../common/ren_win_interact_map.h | 3 +- + .../pcl/visualization/impl/pcl_visualizer.hpp | 109 ++++++----- + .../pcl/visualization/interactor_style.h | 2 + + .../include/pcl/visualization/pcl_plotter.h | 12 +- + .../pcl/visualization/pcl_visualizer.h | 13 +- + .../pcl/visualization/qvtk_compatibility.h | 19 +- + visualization/include/pcl/visualization/vtk.h | 170 +----------------- + visualization/src/cloud_viewer.cpp | 3 + + visualization/src/histogram_visualizer.cpp | 1 - + visualization/src/interactor_style.cpp | 3 +- + visualization/src/pcl_visualizer.cpp | 141 +++++++++++---- + visualization/src/point_picking_event.cpp | 1 - + 15 files changed, 264 insertions(+), 279 deletions(-) + +diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt +index 260e8b86dc..e9ead2ac0e 100644 +--- a/visualization/CMakeLists.txt ++++ b/visualization/CMakeLists.txt +@@ -63,6 +63,14 @@ if(VTK_RENDERING_BACKEND_OPENGL_VERSION VERSION_LESS 2) + ) + 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" +@@ -117,6 +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) +@@ -126,6 +135,15 @@ if(VTK_RENDERING_BACKEND_OPENGL_VERSION VERSION_LESS 2) + ) + endif() + ++if(NOT (${VTK_VERSION} VERSION_LESS 9.0)) ++ if(NOT (";${VTK_AVAILABLE_COMPONENTS};" MATCHES ";RenderingContextOpenGL2;")) ++ ++ list(REMOVE_ITEM incs ++ "include/pcl/${SUBSYS_NAME}/pcl_painter2D.h" ++ ) ++ endif() ++endif() ++ + # on apple, a workaround is used for the cocoa render window interactor + if(APPLE) + list(APPEND srcs +@@ -135,14 +153,43 @@ endif() + set(LIB_NAME "pcl_${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) +@@ -163,6 +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 ${EXT_DEPS}) + + # Install include files +@@ -172,6 +220,13 @@ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs}) + PCL_ADD_INCLUDES("${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 --git a/visualization/include/pcl/visualization/common/actor_map.h b/visualization/include/pcl/visualization/common/actor_map.h +index 0fb1903b8c..acd9fd247f 100644 +--- a/visualization/include/pcl/visualization/common/actor_map.h ++++ b/visualization/include/pcl/visualization/common/actor_map.h +@@ -43,6 +43,7 @@ + + #include + #include ++#include + + #include + #include +diff --git a/visualization/include/pcl/visualization/common/ren_win_interact_map.h b/visualization/include/pcl/visualization/common/ren_win_interact_map.h +index 451456610e..1841f13a28 100644 +--- a/visualization/include/pcl/visualization/common/ren_win_interact_map.h ++++ b/visualization/include/pcl/visualization/common/ren_win_interact_map.h +@@ -41,8 +41,9 @@ + #include + #include + ++#include ++ + template class vtkSmartPointer; +-class vtkXYPlotActor; + class vtkRenderer; + class vtkRenderWindow; + class vtkRenderWindowInteractor; +diff --git a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp +index 14fbdd6636..e8aac7eac3 100644 +--- a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp ++++ b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp +@@ -61,6 +61,7 @@ + #include + #include + #include ++#include // pcl::utils::ignore + + #include + +@@ -270,11 +271,37 @@ pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData ( + 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 cells = vertices->GetData (); + updateCells (cells, initcells, nr_points); + + // Set the cells and the vertices + vertices->SetCells (nr_points, cells); ++#endif + } + + ////////////////////////////////////////////////////////////////////////////////////////////// +@@ -304,10 +331,35 @@ pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData ( + if (!vertices) + vertices = vtkSmartPointer::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 cells = vertices->GetData (); + updateCells (cells, initcells, nr_points); + // Set the cells and the vertices + vertices->SetCells (nr_points, cells); ++#endif + } + + //////////////////////////////////////////////////////////////////////////////////////////// +@@ -1701,32 +1753,8 @@ pcl::visualization::PCLVisualizer::addPolygonMesh ( + { + // Create polys from polyMesh.polygons + vtkSmartPointer cell_array = vtkSmartPointer::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 polydata; + allocVtkPolyData (polydata); + cell_array->GetData ()->SetNumberOfValues (idx); +@@ -1878,28 +1906,8 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh ( + + // Update the cells + cells = vtkSmartPointer::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 --git a/visualization/include/pcl/visualization/interactor_style.h b/visualization/include/pcl/visualization/interactor_style.h +index b4c11200b8..d1faa0beda 100644 +--- a/visualization/include/pcl/visualization/interactor_style.h ++++ b/visualization/include/pcl/visualization/interactor_style.h +@@ -50,6 +50,8 @@ + #include + #endif + #include ++#include ++#include + + class vtkRendererCollection; + class vtkLegendScaleActor; +diff --git a/visualization/include/pcl/visualization/pcl_plotter.h b/visualization/include/pcl/visualization/pcl_plotter.h +index f897978672..93f78695d1 100644 +--- a/visualization/include/pcl/visualization/pcl_plotter.h ++++ b/visualization/include/pcl/visualization/pcl_plotter.h +@@ -48,16 +48,16 @@ + #include + #include + +-class vtkRenderWindow; +-class vtkRenderWindowInteractor; +-class vtkContextView; +-class vtkChartXY; +-class vtkColorSeries; +- ++#include ++#include ++#include + #include + #include + #include + ++class vtkRenderWindow; ++class vtkRenderWindowInteractor; ++ + namespace pcl + { + namespace visualization +diff --git a/visualization/include/pcl/visualization/pcl_visualizer.h b/visualization/include/pcl/visualization/pcl_visualizer.h +index c57bb6e790..64e14ebf8a 100644 +--- a/visualization/include/pcl/visualization/pcl_visualizer.h ++++ b/visualization/include/pcl/visualization/pcl_visualizer.h +@@ -53,14 +53,15 @@ + #include + #include + ++#include ++#include ++ + // 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& lookup, const std::vector& vertices, vtkSmartPointer 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 &polydata, + vtkSmartPointer &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 --git a/visualization/include/pcl/visualization/vtk.h b/visualization/include/pcl/visualization/vtk.h +index 9f6df75a51..aa94431611 100644 +--- a/visualization/include/pcl/visualization/vtk.h ++++ b/visualization/include/pcl/visualization/vtk.h +@@ -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 +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +- +-#include +- +-#include +-#include +- +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +-#include +- +-#if defined __GNUC__ && defined __DEPRECATED_DISABLED__ +-#define __DEPRECATED +-#undef __DEPRECATED_DISABLED__ +-#endif ++PCL_DEPRECATED_HEADER(1, 14, "Use required vtk includes instead.") +diff --git a/visualization/src/cloud_viewer.cpp b/visualization/src/cloud_viewer.cpp +index 79e3506e39..d670dbb7ec 100644 +--- a/visualization/src/cloud_viewer.cpp ++++ b/visualization/src/cloud_viewer.cpp +@@ -40,6 +40,9 @@ + #include + #include + ++#include ++#include ++ + #include + #include + +diff --git a/visualization/src/histogram_visualizer.cpp b/visualization/src/histogram_visualizer.cpp +index 4daccd4ae3..090e8b5d67 100644 +--- a/visualization/src/histogram_visualizer.cpp ++++ b/visualization/src/histogram_visualizer.cpp +@@ -45,7 +45,6 @@ + #include + + #include +-#include + #include + #include + #include +diff --git a/visualization/src/interactor_style.cpp b/visualization/src/interactor_style.cpp +index aa55a2de70..db17786bfe 100644 +--- a/visualization/src/interactor_style.cpp ++++ b/visualization/src/interactor_style.cpp +@@ -36,6 +36,7 @@ + * + */ + ++#include + #include + #include + #include +@@ -141,7 +142,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::saveCameraParameters (const st + { + 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 --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp +index 7c39b010c4..79b3d12263 100644 +--- a/visualization/src/pcl_visualizer.cpp ++++ b/visualization/src/pcl_visualizer.cpp +@@ -51,7 +51,7 @@ + #include + #include + #include +- ++#include + #include + #include + +@@ -60,6 +60,7 @@ + + #include + #include ++#include + + #if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2 + #include +@@ -82,7 +83,6 @@ + #include + #include + #include +-#include + #include + #include + #include +@@ -122,6 +122,63 @@ + #undef far + #endif + ++vtkIdType ++pcl::visualization::details::fillCells(std::vector& lookup, const std::vector& vertices, vtkSmartPointer 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(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::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::createActorFromVTKDataSet (const vtkSmartPoin + //actor->SetNumberOfCloudPoints (std::max (1, data->GetNumberOfPoints () / 10)); + actor->GetProperty ()->SetInterpolationToFlat (); + } +- + ///////////////////////////////////////////////////////////////////////////////////////////// + void + pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData ( +@@ -1291,10 +1348,36 @@ pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData ( + if (!vertices) + vertices = vtkSmartPointer::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 cells = vertices->GetData (); + updateCells (cells, initcells, nr_points); + // Set the cells and the vertices + vertices->SetCells (nr_points, cells); ++#endif + } + + ////////////////////////////////////////////////////////////////////////////////////////////// +@@ -3150,28 +3233,9 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh ( + + // Update the cells + cells = vtkSmartPointer::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 +@@ -3541,7 +3605,8 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere ( + + //center object + double CoM[3]; +- vtkIdType npts_com = 0, *ptIds_com = nullptr; ++ vtkIdType npts_com = 0; ++ vtkCellPtsPtr ptIds_com = nullptr; + vtkSmartPointer cells_com = polydata->GetPolys (); + + double center[3], p1_com[3], p2_com[3], p3_com[3], totalArea_com = 0; +@@ -3600,10 +3665,11 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere ( + // * Compute area of the mesh + ////////////////////////////// + vtkSmartPointer 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); +@@ -3819,7 +3885,8 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere ( + polydata->BuildCells (); + + vtkSmartPointer 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);) +@@ -4029,9 +4096,9 @@ pcl::visualization::PCLVisualizer::fromHandlersToScreen ( + + vtkSmartPointer polydata; + vtkSmartPointer 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 --git a/visualization/src/point_picking_event.cpp b/visualization/src/point_picking_event.cpp +index 2c38709666..c0f342ed3c 100644 +--- a/visualization/src/point_picking_event.cpp ++++ b/visualization/src/point_picking_event.cpp +@@ -49,7 +49,6 @@ + #include + #include + #include +-#include + #include + #include + + +From 972af4c9d61797ce14c936632da9fb3938ab1309 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:09:21 +0200 +Subject: [PATCH 10/15] Fix gpu. + +--- + gpu/kinfu/tools/CMakeLists.txt | 2 -- + gpu/kinfu_large_scale/tools/CMakeLists.txt | 2 -- + gpu/people/tools/CMakeLists.txt | 2 -- + 3 files changed, 6 deletions(-) + +diff --git a/gpu/kinfu/tools/CMakeLists.txt b/gpu/kinfu/tools/CMakeLists.txt +index 8ef3d920df..691b4d875c 100644 +--- a/gpu/kinfu/tools/CMakeLists.txt ++++ b/gpu/kinfu/tools/CMakeLists.txt +@@ -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("${CMAKE_CURRENT_SOURCE_DIR}/include") + endif() + +diff --git a/gpu/kinfu_large_scale/tools/CMakeLists.txt b/gpu/kinfu_large_scale/tools/CMakeLists.txt +index 9df2535a5c..65f63aa8b8 100644 +--- a/gpu/kinfu_large_scale/tools/CMakeLists.txt ++++ b/gpu/kinfu_large_scale/tools/CMakeLists.txt +@@ -8,8 +8,6 @@ if(NOT VTK_FOUND) + else() + set(DEFAULT TRUE) + set(REASON) +- set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE") +- include("${VTK_USE_FILE}") + include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") + endif() + +diff --git a/gpu/people/tools/CMakeLists.txt b/gpu/people/tools/CMakeLists.txt +index 3d45dbc42a..83cf9b4b60 100644 +--- a/gpu/people/tools/CMakeLists.txt ++++ b/gpu/people/tools/CMakeLists.txt +@@ -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() + + +From dcd2dd9065561a1012e942ae0c99faf10eac8560 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:09:49 +0200 +Subject: [PATCH 11/15] Fix tools. + +--- + tools/CMakeLists.txt | 8 ++++++++ + tools/mesh_sampling.cpp | 7 +++++-- + tools/openni_save_image.cpp | 6 +++++- + tools/pcd_viewer.cpp | 1 - + tools/virtual_scanner.cpp | 7 ++++++- + 5 files changed, 24 insertions(+), 5 deletions(-) + +diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt +index 1911f7b9f4..5bfe6e94cb 100644 +--- a/tools/CMakeLists.txt ++++ b/tools/CMakeLists.txt +@@ -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 --git a/tools/mesh_sampling.cpp b/tools/mesh_sampling.cpp +index 25a5b4bfad..5e6272201d 100644 +--- a/tools/mesh_sampling.cpp ++++ b/tools/mesh_sampling.cpp +@@ -36,6 +36,7 @@ + */ + + #include ++#include + #include + #include + #include +@@ -87,7 +88,7 @@ randPSurface (vtkPolyData * polydata, std::vector * cumulativeAreas, dou + + 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 +139,8 @@ uniform_sampling (vtkSmartPointer polydata, std::size_t n_samples, + + double p1[3], p2[3], p3[3], totalArea = 0; + std::vector 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 --git a/tools/openni_save_image.cpp b/tools/openni_save_image.cpp +index 66f9787227..f579e4ca4e 100644 +--- a/tools/openni_save_image.cpp ++++ b/tools/openni_save_image.cpp +@@ -39,9 +39,13 @@ + #include + #include + #include +-#include + #include + ++#include ++#include ++#include ++#include ++ + #include "boost.h" + + #include +diff --git a/tools/virtual_scanner.cpp b/tools/virtual_scanner.cpp +index 9b0586bf9f..89e5bbc153 100644 +--- a/tools/virtual_scanner.cpp ++++ b/tools/virtual_scanner.cpp +@@ -54,7 +54,11 @@ + #include // for pcl::make_shared + #include + #include +-#include ++#include ++#include ++#include ++#include ++#include + + #include // for boost::is_any_of, boost::split, boost::token_compress_on, boost::trim + #include // for boost::filesystem::create_directories, boost::filesystem::exists, boost::filesystem::extension, boost::filesystem::path + +From 3041fb121f8dd85c327684b467219ee03f147c20 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 23 Oct 2020 22:10:05 +0200 +Subject: [PATCH 12/15] Fix examples. + +--- + examples/keypoints/CMakeLists.txt | 9 ++++----- + examples/outofcore/CMakeLists.txt | 1 - + examples/segmentation/CMakeLists.txt | 1 - + examples/stereo/CMakeLists.txt | 1 - + examples/surface/CMakeLists.txt | 1 - + 5 files changed, 4 insertions(+), 9 deletions(-) + +diff --git a/examples/keypoints/CMakeLists.txt b/examples/keypoints/CMakeLists.txt +index 133bfed82a..9bc3bc3be8 100644 +--- a/examples/keypoints/CMakeLists.txt ++++ b/examples/keypoints/CMakeLists.txt +@@ -6,12 +6,11 @@ PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS visualization) + + ## Find VTK + if(NOT VTK_FOUND) +- set(DEFAULT FALSE) +- set(REASON "VTK was not found.") ++ set(DEFAULT FALSE) ++ set(REASON "VTK was not found.") + else() +- set(DEFAULT TRUE) +- set(REASON) +- include(${VTK_USE_FILE}) ++ set(DEFAULT TRUE) ++ set(REASON) + endif() + + PCL_ADD_EXAMPLE(pcl_example_sift_keypoint_estimation FILES example_sift_keypoint_estimation.cpp +diff --git a/examples/outofcore/CMakeLists.txt b/examples/outofcore/CMakeLists.txt +index aed932e9b5..6c624f0e9f 100644 +--- a/examples/outofcore/CMakeLists.txt ++++ b/examples/outofcore/CMakeLists.txt +@@ -9,7 +9,6 @@ if(NOT VTK_FOUND) + else() + set(DEFAULT TRUE) + set(REASON) +- include(${VTK_USE_FILE}) + endif() + + PCL_SUBSYS_DEPEND (build ${SUBSYS_NAME} DEPS outofcore io common octree filters visualization EXT_DEPS vtk) +diff --git a/examples/segmentation/CMakeLists.txt b/examples/segmentation/CMakeLists.txt +index 5e672fd821..b788c4c6fa 100644 +--- a/examples/segmentation/CMakeLists.txt ++++ b/examples/segmentation/CMakeLists.txt +@@ -11,7 +11,6 @@ PCL_ADD_EXAMPLE(pcl_example_region_growing FILES example_region_growing.cpp + + ## Find VTK + if(VTK_FOUND) +- include(${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 --git a/examples/stereo/CMakeLists.txt b/examples/stereo/CMakeLists.txt +index 518d104942..1f64b1cf09 100644 +--- a/examples/stereo/CMakeLists.txt ++++ b/examples/stereo/CMakeLists.txt +@@ -11,7 +11,6 @@ if(NOT VTK_FOUND) + else() + set(DEFAULT TRUE) + set(REASON) +- include(${VTK_USE_FILE}) + endif() + + PCL_ADD_EXAMPLE(pcl_example_stereo_baseline FILES example_stereo_baseline.cpp +diff --git a/examples/surface/CMakeLists.txt b/examples/surface/CMakeLists.txt +index ec9f030d61..0cc5d7d277 100644 +--- a/examples/surface/CMakeLists.txt ++++ b/examples/surface/CMakeLists.txt +@@ -11,7 +11,6 @@ if(NOT VTK_FOUND) + else() + set(DEFAULT TRUE) + set(REASON) +- include(${VTK_USE_FILE}) + endif() + + PCL_ADD_EXAMPLE(pcl_test_nurbs_fitting_surface + +From de0d2c04e4356a13b1fc86a36cea0eb3e964e0ec Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Sun, 8 Nov 2020 20:55:58 +0100 +Subject: [PATCH 13/15] Fix apps. + +--- + apps/3d_rec_framework/CMakeLists.txt | 1 - + .../utils/vtk_model_sampling.h | 8 +- + apps/CMakeLists.txt | 48 ++-- + apps/cloud_composer/CMakeLists.txt | 14 +- + .../pcl/apps/cloud_composer/cloud_view.h | 16 +- + .../apps/cloud_composer/items/cloud_item.h | 9 +- + .../pcl/apps/cloud_composer/items/fpfh_item.h | 5 +- + .../click_trackball_interactor_style.h | 2 + + .../point_selectors/interactor_style_switch.h | 9 +- + .../point_selectors/manipulation_event.h | 1 - + .../rectangular_frustum_selector.h | 4 + + .../selected_trackball_interactor_style.h | 4 + + .../point_selectors/selection_event.h | 7 +- + apps/cloud_composer/src/cloud_view.cpp | 71 ++++-- + apps/cloud_composer/src/items/fpfh_item.cpp | 15 +- + .../click_trackball_interactor_style.cpp | 4 + + .../interactor_style_switch.cpp | 3 + + .../rectangular_frustum_selector.cpp | 8 + + .../selected_trackball_interactor_style.cpp | 9 + + apps/cloud_composer/src/project_model.cpp | 5 + + apps/include/pcl/apps/manual_registration.h | 3 + + apps/include/pcl/apps/openni_passthrough.h | 3 + + .../pcl/apps/organized_segmentation_demo.h | 4 + + apps/include/pcl/apps/pcd_video_player.h | 4 +- + apps/modeler/CMakeLists.txt | 12 +- + .../include/pcl/apps/modeler/render_window.h | 5 +- + apps/modeler/src/cloud_mesh.cpp | 4 +- + apps/modeler/src/cloud_mesh_item.cpp | 15 +- + apps/modeler/src/render_window.cpp | 35 +-- + .../manual_registration.cpp | 53 +++- + .../manual_registration.ui | 10 +- + apps/src/openni_octree_compression.cpp | 2 +- + apps/src/openni_passthrough.cpp | 34 ++- + apps/src/openni_passthrough.ui | 8 +- + apps/src/organized_segmentation_demo.cpp | 33 ++- + apps/src/organized_segmentation_demo.ui | 8 +- + .../src/pcd_video_player/pcd_video_player.cpp | 37 ++- + apps/src/pcd_video_player/pcd_video_player.ui | 226 ++++++++---------- + apps/src/render_views_tesselated_sphere.cpp | 11 +- + 39 files changed, 484 insertions(+), 266 deletions(-) + +diff --git a/apps/3d_rec_framework/CMakeLists.txt b/apps/3d_rec_framework/CMakeLists.txt +index ec6c56d8fa..6b64e28c9c 100644 +--- a/apps/3d_rec_framework/CMakeLists.txt ++++ b/apps/3d_rec_framework/CMakeLists.txt +@@ -9,7 +9,6 @@ if(NOT VTK_FOUND) + else() + set(DEFAULT TRUE) + set(REASON) +- include("${VTK_USE_FILE}") + endif() + + # OpenNI found? +diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h +index 947809fdb4..5f55fcbd9f 100644 +--- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h ++++ b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h +@@ -7,6 +7,8 @@ + + #pragma once + ++#include ++ + #include + + #include +@@ -74,7 +76,7 @@ randPSurface(vtkPolyData* polydata, + + double A[3], B[3], C[3]; + vtkIdType npts = 0; +- vtkIdType* ptIds = nullptr; ++ vtkCellPtsPtr ptIds = nullptr; + polydata->GetCellPoints(el, npts, ptIds); + + if (ptIds == nullptr) +@@ -98,7 +100,9 @@ uniform_sampling(const vtkSmartPointer& polydata, + double p1[3], p2[3], p3[3], totalArea = 0; + std::vector cumulativeAreas(cells->GetNumberOfCells(), 0); + std::size_t i = 0; +- vtkIdType npts = 0, *ptIds = nullptr; ++ vtkIdType npts = 0; ++ vtkCellPtsPtr ptIds = nullptr; ++ + for (cells->InitTraversal(); cells->GetNextCell(npts, ptIds); i++) { + polydata->GetPoint(ptIds[0], p1); + polydata->GetPoint(ptIds[1], p2); +diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt +index 853dac2d8e..bd252740ae 100644 +--- a/apps/CMakeLists.txt ++++ b/apps/CMakeLists.txt +@@ -34,8 +34,6 @@ if(LIBUSB_1_FOUND) + endif() + + if(VTK_FOUND) +- include("${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) +diff --git a/apps/cloud_composer/CMakeLists.txt b/apps/cloud_composer/CMakeLists.txt +index d70e4bb543..80a9a27a3d 100644 +--- a/apps/cloud_composer/CMakeLists.txt ++++ b/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) +diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h +index 19c91ca767..27780fa5eb 100644 +--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h ++++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h +@@ -42,8 +42,15 @@ + #include + + #include ++#include + #include + ++ ++#include ++#include ++#include ++#include ++ + 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 style_switch_; + + vtkSmartPointer axes_widget_; +diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h +index debc9a32c6..a54f7fb2bd 100644 +--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h ++++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h +@@ -40,10 +40,17 @@ + #include + + #include ++ ++#include ++#include ++#include + #include + #include +-#include + #include ++#include ++#include ++#include ++ + + //Typedefs to make things sane + using GeometryHandler = pcl::visualization::PointCloudGeometryHandler; +diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h +index 42feb56376..5f3ac4524e 100644 +--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h ++++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h +@@ -41,10 +41,9 @@ + #include + + #include ++#include + #include + +-class QVTKWidget; +- + namespace pcl + { + namespace cloud_composer +@@ -74,7 +73,7 @@ namespace pcl + pcl::PointCloud::Ptr fpfh_ptr_; + double radius_; + pcl::visualization::PCLPlotter::Ptr plot_; +- QVTKWidget *qvtk_; ++ PCLQVTKWidget* qvtk_; + QWidget *hist_page_; + }; + +diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h +index cc7b90167c..ecc1a390cc 100644 +--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h ++++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h +@@ -39,6 +39,8 @@ + + #include + ++#include ++ + namespace pcl + { + namespace cloud_composer +diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h +index d039aa4230..1dd72c1d30 100644 +--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h ++++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h +@@ -39,12 +39,19 @@ + + #include + +-#include + #include + #include + #include + #include + ++#include ++#include ++#include ++#include ++#include ++#include ++#include ++ + class QVTKWidget; + + namespace pcl +diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h +index 5e31ff5b46..49ef9008e4 100644 +--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h ++++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h +@@ -37,7 +37,6 @@ + + #pragma once + +-#include + #include + + namespace pcl +diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h +index bc6f7dcc90..a89982b9aa 100644 +--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h ++++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h +@@ -39,6 +39,10 @@ + + #include + ++#include ++#include ++#include ++ + namespace pcl + { + namespace cloud_composer +diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selected_trackball_interactor_style.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selected_trackball_interactor_style.h +index 58fc208c2c..cd4352acd6 100644 +--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selected_trackball_interactor_style.h ++++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selected_trackball_interactor_style.h +@@ -37,6 +37,10 @@ + + #include + ++#include ++#include ++#include ++ + namespace pcl + { + namespace cloud_composer +diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h +index 0e8dfa4960..0e40fcb5e2 100644 +--- a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h ++++ b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h +@@ -37,9 +37,14 @@ + + #pragma once + +-#include + #include + ++#include ++#include ++#include ++#include ++#include ++ + namespace pcl + { + namespace cloud_composer +diff --git a/apps/cloud_composer/src/cloud_view.cpp b/apps/cloud_composer/src/cloud_view.cpp +index 3ac9bf7cd3..465c557a07 100644 +--- a/apps/cloud_composer/src/cloud_view.cpp ++++ b/apps/cloud_composer/src/cloud_view.cpp +@@ -5,20 +5,29 @@ + #include + #include + ++#include ++ + #include + +-#include + + 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::New(); ++ auto renderWindow = vtkSmartPointer::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::CloudView (ProjectModel* model, QWidget* parent) + : 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::New(); ++ auto renderWindow = vtkSmartPointer::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 (ProjectModel* new_model) + 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::connectSignalsAndSlots() + 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::itemChanged (QStandardItem* changed_item) + { + item->paintView (vis_); + } +- qvtk_->update (); ++ refresh(); + } + + +@@ -115,8 +137,7 @@ pcl::cloud_composer::CloudView::rowsInserted (const QModelIndex& parent, int sta + rowsInserted(new_item->index(),0,new_item->rowCount ()-1); + } + +- qvtk_->update (); +- ++ refresh(); + } + + void +@@ -143,20 +164,20 @@ pcl::cloud_composer::CloudView::rowsAboutToBeRemoved (const QModelIndex& parent, + 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::selectedItemChanged (const QItemSelection & sele + } + } + } +- qvtk_->update (); ++ refresh(); + } + + void +@@ -204,14 +225,14 @@ pcl::cloud_composer::CloudView::setAxisVisibility (bool visible) + 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::addOrientationMarkerWidgetAxes () + axes_widget_ = vtkSmartPointer::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::removeOrientationMarkerWidgetAxes () + { + axes_widget_->SetEnabled (false); + } +- +- + } + + //////// Interactor Functions +@@ -255,7 +274,7 @@ pcl::cloud_composer::CloudView::initializeInteractorSwitch () + { + style_switch_ = vtkSmartPointer::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 --git a/apps/cloud_composer/src/items/fpfh_item.cpp b/apps/cloud_composer/src/items/fpfh_item.cpp +index 4ee8178360..f48b562333 100644 +--- a/apps/cloud_composer/src/items/fpfh_item.cpp ++++ b/apps/cloud_composer/src/items/fpfh_item.cpp +@@ -3,8 +3,6 @@ + + #include + +-#include +- + pcl::cloud_composer::FPFHItem::FPFHItem (QString name, const pcl::PointCloud::Ptr& fpfh_ptr, double radius) + : CloudComposerItem (std::move(name)) + , fpfh_ptr_ (fpfh_ptr) +@@ -40,7 +38,7 @@ pcl::cloud_composer::FPFHItem::getInspectorTabs () + 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::getInspectorTabs () + //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 (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 tabs; + tabs.insert ("Histogram",hist_page_); +diff --git a/apps/cloud_composer/src/point_selectors/click_trackball_interactor_style.cpp b/apps/cloud_composer/src/point_selectors/click_trackball_interactor_style.cpp +index e316c55f87..c21b212592 100644 +--- a/apps/cloud_composer/src/point_selectors/click_trackball_interactor_style.cpp ++++ b/apps/cloud_composer/src/point_selectors/click_trackball_interactor_style.cpp +@@ -4,6 +4,10 @@ + + #include + ++ ++#include // For vtkStandardNewMacro ++#include ++ + namespace pcl + { + namespace cloud_composer +diff --git a/apps/cloud_composer/src/point_selectors/interactor_style_switch.cpp b/apps/cloud_composer/src/point_selectors/interactor_style_switch.cpp +index b1f3f59761..72fbf7f624 100644 +--- a/apps/cloud_composer/src/point_selectors/interactor_style_switch.cpp ++++ b/apps/cloud_composer/src/point_selectors/interactor_style_switch.cpp +@@ -6,6 +6,9 @@ + + #include + ++#include ++#include ++ + namespace pcl + { + namespace cloud_composer +diff --git a/apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp b/apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp +index c237692c5f..0bd7114cdf 100644 +--- a/apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp ++++ b/apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp +@@ -3,6 +3,14 @@ + + #include + ++#include ++#include ++#include ++#include ++#include ++#include ++#include ++ + namespace pcl + { + namespace cloud_composer +diff --git a/apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp b/apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp +index dc145333b0..9ad0f579ec 100644 +--- a/apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp ++++ b/apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp +@@ -4,6 +4,15 @@ + #include + #include + ++#include ++#include ++#include ++#include ++#include ++#include ++#include ++ ++ + namespace pcl + { + namespace cloud_composer +diff --git a/apps/cloud_composer/src/project_model.cpp b/apps/cloud_composer/src/project_model.cpp +index 0f1575bd0d..5be855c478 100644 +--- a/apps/cloud_composer/src/project_model.cpp ++++ b/apps/cloud_composer/src/project_model.cpp +@@ -14,6 +14,11 @@ + #include + #include + ++#include ++#include ++#include ++#include ++ + pcl::cloud_composer::ProjectModel::ProjectModel (QObject* parent) + : QStandardItemModel (parent) + { +diff --git a/apps/include/pcl/apps/manual_registration.h b/apps/include/pcl/apps/manual_registration.h +index f4794e899c..e0858a8431 100644 +--- a/apps/include/pcl/apps/manual_registration.h ++++ b/apps/include/pcl/apps/manual_registration.h +@@ -100,6 +100,9 @@ class ManualRegistration : public QMainWindow { + DstPointPickCallback(const pcl::visualization::PointPickingEvent& event, void*); + + protected: ++ void ++ refreshView(); ++ + pcl::visualization::PCLVisualizer::Ptr vis_src_; + pcl::visualization::PCLVisualizer::Ptr vis_dst_; + +diff --git a/apps/include/pcl/apps/openni_passthrough.h b/apps/include/pcl/apps/openni_passthrough.h +index d264865b55..cb31575830 100644 +--- a/apps/include/pcl/apps/openni_passthrough.h ++++ b/apps/include/pcl/apps/openni_passthrough.h +@@ -86,6 +86,9 @@ class OpenNIPassthrough : public QMainWindow { + cloud_cb(const CloudConstPtr& cloud); + + protected: ++ void ++ refreshView(); ++ + pcl::visualization::PCLVisualizer::Ptr vis_; + pcl::OpenNIGrabber& grabber_; + std::string device_id_; +diff --git a/apps/include/pcl/apps/organized_segmentation_demo.h b/apps/include/pcl/apps/organized_segmentation_demo.h +index 510b0725cc..b83809cc69 100644 +--- a/apps/include/pcl/apps/organized_segmentation_demo.h ++++ b/apps/include/pcl/apps/organized_segmentation_demo.h +@@ -184,4 +184,8 @@ public Q_SLOTS: + private Q_SLOTS: + void + timeoutSlot(); ++ ++private: ++ void ++ refreshView(); + }; +diff --git a/apps/include/pcl/apps/pcd_video_player.h b/apps/include/pcl/apps/pcd_video_player.h +index dd80b9e461..2f5e4a197e 100644 +--- a/apps/include/pcl/apps/pcd_video_player.h ++++ b/apps/include/pcl/apps/pcd_video_player.h +@@ -47,7 +47,6 @@ + #include + #include + #include +-#include + + #include + #include +@@ -87,6 +86,9 @@ class PCDVideoPlayer : public QMainWindow { + ~PCDVideoPlayer() {} + + protected: ++ void ++ refreshView(); ++ + pcl::visualization::PCLVisualizer::Ptr vis_; + pcl::PointCloud::Ptr cloud_; + +diff --git a/apps/modeler/CMakeLists.txt b/apps/modeler/CMakeLists.txt +index 7b1d14b580..c7dd1b6a17 100644 +--- a/apps/modeler/CMakeLists.txt ++++ b/apps/modeler/CMakeLists.txt +@@ -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(${srcs} PROPERTIES OBJECT_DEPENDS "${ui_srcs}") + 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 --git a/apps/modeler/include/pcl/apps/modeler/render_window.h b/apps/modeler/include/pcl/apps/modeler/render_window.h +index b5f07a70be..0413e85b6d 100755 +--- a/apps/modeler/include/pcl/apps/modeler/render_window.h ++++ b/apps/modeler/include/pcl/apps/modeler/render_window.h +@@ -35,8 +35,7 @@ + */ + + #pragma once +- +-#include ++#include + + #include + +@@ -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 --git a/apps/modeler/src/cloud_mesh.cpp b/apps/modeler/src/cloud_mesh.cpp +index 489aee5c63..0a3e5c4cb0 100755 +--- a/apps/modeler/src/cloud_mesh.cpp ++++ b/apps/modeler/src/cloud_mesh.cpp +@@ -198,7 +198,7 @@ pcl::modeler::CloudMesh::updateVtkPolygons() + 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::updateVtkPolygons() + + 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 --git a/apps/modeler/src/cloud_mesh_item.cpp b/apps/modeler/src/cloud_mesh_item.cpp +index 3090503080..e40ddbf54b 100755 +--- a/apps/modeler/src/cloud_mesh_item.cpp ++++ b/apps/modeler/src/cloud_mesh_item.cpp +@@ -156,12 +156,13 @@ void + pcl::modeler::CloudMeshItem::createChannels() + { + RenderWindowItem* render_window_item = dynamic_cast(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(child(i)); + child_item->init(); +@@ -242,7 +243,7 @@ pcl::modeler::CloudMeshItem::updateRenderWindow() + for (int i = 0, i_end = childCount(); i < i_end; ++i) { + ChannelActorItem* child_item = dynamic_cast(child(i)); + child_item->switchRenderWindow( +- render_window_item->getRenderWindow()->GetRenderWindow()); ++ getRenderWindowCompat(*render_window_item->getRenderWindow())); + } + + render_window_item->getRenderWindow()->updateAxes(); +diff --git a/apps/modeler/src/render_window.cpp b/apps/modeler/src/render_window.cpp +index 73c5fd0647..9be04f77ce 100755 +--- a/apps/modeler/src/render_window.cpp ++++ b/apps/modeler/src/render_window.cpp +@@ -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::New()) + , render_window_item_(render_window_item) + { +@@ -76,7 +76,7 @@ pcl::modeler::RenderWindow::~RenderWindow() + void + pcl::modeler::RenderWindow::initRenderer() + { +- vtkSmartPointer win = GetRenderWindow(); ++ vtkSmartPointer win = getRenderWindowCompat(*this); + vtkSmartPointer renderer = vtkSmartPointer::New(); + win->AddRenderer(renderer); + +@@ -105,7 +105,7 @@ pcl::modeler::RenderWindow::focusInEvent(QFocusEvent* event) + dynamic_cast(render_window_item_->treeWidget()) + ->selectRenderWindowItem(render_window_item_); + +- QVTKWidget::focusInEvent(event); ++ PCLQVTKWidget::focusInEvent(event); + } + + ////////////////////////////////////////////////////////////////////////////////////////////// +@@ -130,7 +130,7 @@ pcl::modeler::RenderWindow::setTitle(const QString& title) + 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 --git a/apps/src/manual_registration/manual_registration.cpp b/apps/src/manual_registration/manual_registration.cpp +index 1085b7f290..4f92ac19e2 100644 +--- a/apps/src/manual_registration/manual_registration.cpp ++++ b/apps/src/manual_registration/manual_registration.cpp +@@ -49,6 +49,7 @@ + #include + #include + #include ++#include + + using namespace pcl; + +@@ -67,29 +68,46 @@ ManualRegistration::ManualRegistration() + this->setWindowTitle("PCL Manual Registration"); + + // Set up the source window ++#if VTK_MAJOR_VERSION > 8 ++ auto renderer_src = vtkSmartPointer::New(); ++ auto renderWindow_src = vtkSmartPointer::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::New(); ++ auto renderWindow_dst = vtkSmartPointer::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()), +@@ -237,8 +255,8 @@ ManualRegistration::orthoChanged(int state) + ->GetActiveCamera() + ->SetParallelProjection(1); + } +- ui_->qvtk_widget_src->update(); +- ui_->qvtk_widget_dst->update(); ++ ++ refreshView(); + } + + // TODO +@@ -275,8 +293,17 @@ 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 --git a/apps/src/manual_registration/manual_registration.ui b/apps/src/manual_registration/manual_registration.ui +index 3728fd1f91..1d4032f371 100644 +--- a/apps/src/manual_registration/manual_registration.ui ++++ b/apps/src/manual_registration/manual_registration.ui +@@ -37,7 +37,7 @@ + + + +- ++ + + + 255 +@@ -133,7 +133,7 @@ + + + +- ++ + + + 255 +@@ -161,9 +161,9 @@ + + + +- QVTKWidget +- QWidget +-
QVTKWidget.h
++ PCLQVTKWidget ++ QOpenGLWidget ++
pcl/visualization/qvtk_compatibility.h
+ + + +diff --git a/apps/src/openni_octree_compression.cpp b/apps/src/openni_octree_compression.cpp +index 3ded13cfe5..bba10c7ed0 100644 +--- a/apps/src/openni_octree_compression.cpp ++++ b/apps/src/openni_octree_compression.cpp +@@ -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 --git a/apps/src/openni_passthrough.cpp b/apps/src/openni_passthrough.cpp +index a8496986da..cf218c978b 100644 +--- a/apps/src/openni_passthrough.cpp ++++ b/apps/src/openni_passthrough.cpp +@@ -35,6 +35,8 @@ + * + */ + ++#include ++ + #include + #include + +@@ -44,6 +46,8 @@ + #include + + #include ++#include ++#include + + #include + +@@ -61,13 +65,21 @@ OpenNIPassthrough::OpenNIPassthrough(pcl::OpenNIGrabber& grabber) + ui_->setupUi(this); + + this->setWindowTitle("PCL OpenNI PassThrough Viewer"); ++ //Create the QVTKWidget ++#if VTK_MAJOR_VERSION > 8 ++ auto renderer = vtkSmartPointer::New(); ++ auto renderWindow = vtkSmartPointer::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 ++ 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 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 --git a/apps/src/openni_passthrough.ui b/apps/src/openni_passthrough.ui +index 47035fd209..39d29a2b9d 100644 +--- a/apps/src/openni_passthrough.ui ++++ b/apps/src/openni_passthrough.ui +@@ -37,7 +37,7 @@ + + + +- ++ + + + 255 +@@ -94,9 +94,9 @@ + + + +- QVTKWidget +- QWidget +-
QVTKWidget.h
++ PCLQVTKWidget ++ QOpenGLWidget ++
pcl/visualization/qvtk_compatibility.h
+ + + +diff --git a/apps/src/organized_segmentation_demo.cpp b/apps/src/organized_segmentation_demo.cpp +index e869dfc769..5529eb87d6 100644 +--- a/apps/src/organized_segmentation_demo.cpp ++++ b/apps/src/organized_segmentation_demo.cpp +@@ -12,6 +12,8 @@ + #include + + #include ++#include ++#include + + // #include // for boost::filesystem::directory_iterator + #include // for boost::signals2::connection +@@ -204,13 +206,23 @@ OrganizedSegmentationDemo::OrganizedSegmentationDemo(pcl::Grabber& grabber) + ui_->setupUi(this); + + this->setWindowTitle("PCL Organized Connected Component Segmentation Demo"); ++ ++#if VTK_MAJOR_VERSION > 8 ++ auto renderer = vtkSmartPointer::New(); ++ auto renderWindow = vtkSmartPointer::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 f = [this](const CloudConstPtr& cloud) { + cloud_cb(cloud); +@@ -308,6 +320,16 @@ OrganizedSegmentationDemo::OrganizedSegmentationDemo(pcl::Grabber& grabber) + grabber_.start(); + } + ++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) + { +@@ -440,8 +462,7 @@ OrganizedSegmentationDemo::timeoutSlot() + data_modified_ = false; + } + } +- +- ui_->qvtk_widget->update(); ++ refreshView(); + } + + void +diff --git a/apps/src/organized_segmentation_demo.ui b/apps/src/organized_segmentation_demo.ui +index 53174633f5..20951b52b9 100644 +--- a/apps/src/organized_segmentation_demo.ui ++++ b/apps/src/organized_segmentation_demo.ui +@@ -37,7 +37,7 @@ + + + +- ++ + + + 255 +@@ -214,9 +214,9 @@ + + + +- QVTKWidget +- QWidget +-
QVTKWidget.h
++ PCLQVTKWidget ++ QOpenGLWidget ++
pcl/visualization/qvtk_compatibility.h
+ + + +diff --git a/apps/src/pcd_video_player/pcd_video_player.cpp b/apps/src/pcd_video_player/pcd_video_player.cpp +index 15db9d7dad..a5d2286dac 100644 +--- a/apps/src/pcd_video_player/pcd_video_player.cpp ++++ b/apps/src/pcd_video_player/pcd_video_player.cpp +@@ -35,6 +35,8 @@ + * + */ + ++#include ++ + #include + #include + #include +@@ -51,6 +53,7 @@ + #include + #include + #include ++#include + + #include + #include +@@ -80,14 +83,21 @@ PCDVideoPlayer::PCDVideoPlayer() + // Setup the cloud pointer + cloud_.reset(new pcl::PointCloud); + +- // Set up the qvtk window ++ //Create the QVTKWidget ++#if VTK_MAJOR_VERSION > 8 ++ auto renderer = vtkSmartPointer::New(); ++ auto renderWindow = vtkSmartPointer::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 +@@ -269,6 +280,16 @@ PCDVideoPlayer::indexSliderValueChanged(int value) + cloud_modified_ = true; + } + ++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() + { +diff --git a/apps/src/pcd_video_player/pcd_video_player.ui b/apps/src/pcd_video_player/pcd_video_player.ui +index c80ed5d494..8d891bf905 100644 +--- a/apps/src/pcd_video_player/pcd_video_player.ui ++++ b/apps/src/pcd_video_player/pcd_video_player.ui +@@ -14,122 +14,108 @@ + MainWindow + + +- +- +- +- 339 +- 10 +- 451 +- 531 +- +- +- +- +- +- +- +- +- +- Qt::Horizontal +- +- +- +- +- +- +- +- +- 9 +- 9 +- 321 +- 531 +- +- +- +- +- +- +- Select PCD Files +- +- +- +- +- +- +- Select Folder +- +- +- +- +- +- +- Qt::Horizontal +- +- +- +- +- +- +- Qt::Vertical +- +- +- +- 20 +- 40 +- +- +- +- +- +- +- +- Qt::Horizontal +- +- +- +- +- +- +- +- +- ... +- +- +- Qt::LeftArrow +- +- +- +- +- +- +- Stop +- +- +- +- +- +- +- Play +- +- +- Qt::NoArrow +- +- +- +- +- +- +- ... +- +- +- Qt::RightArrow +- +- +- +- +- +- +- ++ ++ ++ ++ ++ ++ ++ Select PCD Files ++ ++ ++ ++ ++ ++ ++ Select Folder ++ ++ ++ ++ ++ ++ ++ Qt::Horizontal ++ ++ ++ ++ ++ ++ ++ Qt::Vertical ++ ++ ++ ++ 20 ++ 40 ++ ++ ++ ++ ++ ++ ++ ++ Qt::Horizontal ++ ++ ++ ++ ++ ++ ++ ++ ++ ... ++ ++ ++ Qt::LeftArrow ++ ++ ++ ++ ++ ++ ++ Stop ++ ++ ++ ++ ++ ++ ++ Play ++ ++ ++ Qt::NoArrow ++ ++ ++ ++ ++ ++ ++ ... ++ ++ ++ Qt::RightArrow ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ ++ Qt::Horizontal ++ ++ ++ ++ ++ ++ + + + +@@ -137,7 +123,7 @@ + 0 + 0 + 800 +- 25 ++ 21 + + + +@@ -145,9 +131,9 @@ + + + +- QVTKWidget +- QWidget +-
QVTKWidget.h
++ PCLQVTKWidget ++ QOpenGLWidget ++
pcl/visualization/qvtk_compatibility.h
+ + + +diff --git a/apps/src/render_views_tesselated_sphere.cpp b/apps/src/render_views_tesselated_sphere.cpp +index 3c6b7798fd..002e28c3d1 100644 +--- a/apps/src/render_views_tesselated_sphere.cpp ++++ b/apps/src/render_views_tesselated_sphere.cpp +@@ -7,6 +7,7 @@ + + #include + #include ++#include + + #include + #include +@@ -26,6 +27,7 @@ + #include + #include + #include ++#include + + #include + +@@ -34,7 +36,8 @@ pcl::apps::RenderViewsTesselatedSphere::generateViews() + { + // center object + double CoM[3]; +- vtkIdType npts_com = 0, *ptIds_com = nullptr; ++ vtkIdType npts_com = 0; ++ vtkCellPtsPtr ptIds_com = nullptr; + vtkSmartPointer 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::generateViews() + // * Compute area of the mesh + ////////////////////////////// + vtkSmartPointer 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::generateViews() + polydata->BuildCells(); + + vtkSmartPointer 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);) { + +From b4cba32aee2bc4802ed9e35e26a65c185303b8f6 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 29 Jan 2021 11:33:31 +0100 +Subject: [PATCH 14/15] Ship findGLEW as MacOS version is buggy? + +--- + cmake/Modules/FindGLEW.cmake | 69 ++++++++++++++++++++++++++++++++++++ + simulation/CMakeLists.txt | 8 ++--- + 2 files changed, 71 insertions(+), 6 deletions(-) + create mode 100644 cmake/Modules/FindGLEW.cmake + +diff --git a/cmake/Modules/FindGLEW.cmake b/cmake/Modules/FindGLEW.cmake +new file mode 100644 +index 0000000000..b0e1defcf8 +--- /dev/null ++++ b/cmake/Modules/FindGLEW.cmake +@@ -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 "${GLEW_LIBRARY}") ++ endif() ++ endif() ++endif() ++ ++mark_as_advanced(GLEW_INCLUDE_DIR) +\ No newline at end of file +diff --git a/simulation/CMakeLists.txt b/simulation/CMakeLists.txt +index 22dd6070ef..827c366a12 100644 +--- a/simulation/CMakeLists.txt ++++ b/simulation/CMakeLists.txt +@@ -4,12 +4,8 @@ set(SUBSYS_DEPS common io surface kdtree features search octree visualization fi + + set(build FALSE) + find_package(OpenGL) +-if(APPLE) +- # homebrew's FindGLEW module is not in good shape +- find_package(glew CONFIG) +-ELSE() +- find_package(GLEW) +-ENDIF() ++ ++find_package(GLEW) + + PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF) + PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS opengl glew) + +From a7743323e4ce629c5d45f0e2fbec9a292cd7b509 Mon Sep 17 00:00:00 2001 +From: Lars Glud +Date: Fri, 29 Jan 2021 14:18:35 +0100 +Subject: [PATCH 15/15] use auto to deduce correct type. + +--- + simulation/src/model.cpp | 4 ++-- + 1 file changed, 2 insertions(+), 2 deletions(-) + +diff --git a/simulation/src/model.cpp b/simulation/src/model.cpp +index e2ef8de51b..d1bf600e09 100644 +--- a/simulation/src/model.cpp ++++ b/simulation/src/model.cpp +@@ -22,7 +22,7 @@ pcl::simulation::TriangleMeshModel::TriangleMeshModel(pcl::PolygonMesh::Ptr plg) + + 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, +@@ -37,7 +37,7 @@ pcl::simulation::TriangleMeshModel::TriangleMeshModel(pcl::PolygonMesh::Ptr plg) + 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 --git a/recipe/meta.yaml b/recipe/meta.yaml index 40c5b45..ad138d3 100644 --- a/recipe/meta.yaml +++ b/recipe/meta.yaml @@ -14,26 +14,38 @@ source: sha256: {{ sha256 }} patches: - 4540.patch + - fix-visualization.patch build: - number: 3 + number: 4 requirements: build: - {{ compiler('cxx') }} + - {{ cdt('mesa-libgl-devel') }} # [linux] + - {{ cdt('mesa-dri-drivers') }} # [linux] + - {{ cdt('libselinux') }} # [linux] + - {{ cdt('libxdamage') }} # [linux] + - {{ cdt('libxxf86vm') }} # [linux] + - {{ cdt('libxext') }} # [linux] - cmake - - ninja # [win] - - make # [unix] + - ninja # [win] + - make # [unix] host: + - xorg-libxfixes # [linux] - flann - eigen - boost-cpp - qhull + - vtk + - glew run: - flann - {{ pin_compatible('boost-cpp', max_pin='x.x.x') }} - qhull - + - vtk + - glew + - __osx >={{ MACOSX_DEPLOYMENT_TARGET|default("10.9") }} # [osx and x86_64] test: commands: