PCL 1.7.2 vtk7 support

vtk7.patch

From 9cfb00970f7d46f1732149d4c50ba3646f038b6c Mon Sep 17 00:00:00 2001
From: Sergey Alexandrov <alexandrov88@gmail.com>
Date: Thu, 11 Feb 2016 22:19:01 +0100
Subject: [PATCH 1/4] Use vtkTextureUnitManager to query the number of
 available texture units

The new OpenGL2 backend does not have vktOpenGLHardwareSupport class
which was used before.
---
 visualization/src/pcl_visualizer.cpp | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index dc91674..007c251 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -84,7 +84,6 @@
 #include <vtkRenderWindowInteractor.h>
 #include <vtkAreaPicker.h>
 #include <vtkXYPlotActor.h>
-#include <vtkOpenGLHardwareSupport.h>
 #include <vtkOpenGLRenderWindow.h>
 #include <vtkJPEGReader.h>
 #include <vtkBMPReader.h>
@@ -91,6 +94,7 @@
 #include <vtkPNMReader.h>
 #include <vtkPNGReader.h>
 #include <vtkTIFFReader.h>
+#include <vtkTextureUnitManager.h>

 #include <pcl/visualization/common/shapes.h>
 #include <pcl/visualization/pcl_visualizer.h>
@@ -3221,17 +3231,19 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
 #endif

   vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
-  vtkOpenGLHardwareSupport* hardware = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetHardwareSupport ();
-  bool supported = hardware->GetSupportsMultiTexturing ();
+  vtkTextureUnitManager* tex_manager = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetTextureUnitManager ();
+  if (!tex_manager)
+     return (false);
+
   // Check if hardware support multi texture
-  std::size_t texture_units (hardware->GetNumberOfFixedTextureUnits ());
-  if ((mesh.tex_materials.size () > 1) && supported && (texture_units > 1))
+  int texture_units = tex_manager->GetNumberOfTextureUnits ();
+  if ((mesh.tex_materials.size () > 1) && (texture_units > 1))
   {
     if (texture_units < mesh.tex_materials.size ())
       PCL_WARN ("[PCLVisualizer::addTextureMesh] GPU texture units %d < mesh textures %d!\n",
                 texture_units, mesh.tex_materials.size ());
     // Load textures
-    std::size_t last_tex_id = std::min (mesh.tex_materials.size (), texture_units);
+    std::size_t last_tex_id = std::min (static_cast<int> (mesh.tex_materials.size ()), texture_units);
     int tu = vtkProperty::VTK_TEXTURE_UNIT_0;
     std::size_t tex_id = 0;
     while (tex_id < last_tex_id)
@@ -3275,7 +3287,7 @@
   } // end of multi texturing
   else
   {
-    if (!supported || texture_units < 2)
+    if (texture_units < 2)
       PCL_WARN ("[PCLVisualizer::addTextureMesh] Your GPU doesn't support multi texturing. "
                 "Will use first one only!\n");


From d0efc67fa0d5f3fb3fb99990a6b2a1967a93c229 Mon Sep 17 00:00:00 2001
From: Sergey Alexandrov <alexandrov88@gmail.com>
Date: Sat, 13 Feb 2016 13:31:54 +0100
Subject: [PATCH 2/4] Add CMake variable and C++ macro
 VTK_RENDERING_BACKEND_OPENGL_VERSION

These can be used at configuration and compilation times to adjust for
the currently used backend.
---
 CMakeLists.txt  | 12 +++++++++++-
 pcl_config.h.in |  4 ++++
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 36fc4c9..e5fd763 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -361,7 +361,12 @@ option(WITH_VTK "Build VTK-Visualizations" TRUE)
 if(WITH_VTK AND NOT ANDROID)
   find_package(VTK)
   if(VTK_FOUND)
-    message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}")
+    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()
+    message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}, rendering backend: ${VTK_RENDERING_BACKEND}")
     if (PCL_SHARED_LIBS OR
         (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
       set(VTK_FOUND TRUE)
@@ -377,6 +382,11 @@ if(WITH_VTK AND NOT ANDROID)
           option (VTK_USE_COCOA "Use Cocoa for VTK render windows" ON)
           MARK_AS_ADVANCED (VTK_USE_COCOA)
       endif (APPLE)
+      if(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL")
+        set(VTK_RENDERING_BACKEND_OPENGL_VERSION "1")
+      elseif(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL2")
+        set(VTK_RENDERING_BACKEND_OPENGL_VERSION "2")
+      endif()
       set(HAVE_VTK ON)
     else ()
       set(VTK_FOUND OFF)
diff --git a/pcl_config.h.in b/pcl_config.h.in
index e4b10b0..3c25a06 100644
--- a/pcl_config.h.in
+++ b/pcl_config.h.in
@@ -71,3 +71,7 @@
 /* Address the cases where on MacOS and OpenGL and GLUT are not frameworks */
 #cmakedefine OPENGL_IS_A_FRAMEWORK
 #cmakedefine GLUT_IS_A_FRAMEWORK
+
+/* Version of OpenGL used by VTK as rendering backend */
+#define VTK_RENDERING_BACKEND_OPENGL_VERSION ${VTK_RENDERING_BACKEND_OPENGL_VERSION}
+

From c50c65b042828cfa18765eef7876f896a40a6d1b Mon Sep 17 00:00:00 2001
From: Sergey Alexandrov <alexandrov88@gmail.com>
Date: Sat, 13 Feb 2016 13:59:47 +0100
Subject: [PATCH 3/4] Conditionally compile code that uses
 vtkVertexBufferObjectMapper

This mapper is a performance optimization that is only needed when
OpenGL backend is used. The modern OpenGL2 backend uses vertex buffer
objects transparently for us.
---
 outofcore/src/visualization/outofcore_cloud.cpp | 14 ++++++++++++--
 visualization/CMakeLists.txt                    | 18 ++++++++++++++----
 visualization/src/interactor_style.cpp          |  6 ++++++
 visualization/src/pcl_visualizer.cpp            | 15 ++++++++++++++-
 4 files changed, 46 insertions(+), 7 deletions(-)

diff --git a/outofcore/src/visualization/outofcore_cloud.cpp b/outofcore/src/visualization/outofcore_cloud.cpp
index eaf490c..b08d30e 100644
--- a/outofcore/src/visualization/outofcore_cloud.cpp
+++ b/outofcore/src/visualization/outofcore_cloud.cpp
@@ -21,7 +21,10 @@

 // PCL - visualziation
 #include <pcl/visualization/common/common.h>
+
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
 #include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
+#endif

 // VTK
 #include <vtkVersion.h>
@@ -251,11 +254,18 @@ OutofcoreCloud::render (vtkRenderer* renderer)
         {

           vtkSmartPointer<vtkActor> cloud_actor = vtkSmartPointer<vtkActor>::New ();
-          vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
-
           CloudDataCacheItem *cloud_data_cache_item = &cloud_data_cache.get(pcd_file);

+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
+          vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
           mapper->SetInput (cloud_data_cache_item->item);
+#else
+          vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+          // Usually we choose between SetInput and SetInputData based on VTK version. But OpenGL ≥ 2 automatically
+          // means VTK version is ≥ 6.3
+          mapper->SetInputData (cloud_data_cache_item->item);
+#endif
+
           cloud_actor->SetMapper (mapper);
           cloud_actor->GetProperty ()->SetColor (0.0, 0.0, 1.0);
           cloud_actor->GetProperty ()->SetPointSize (1);
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index 26bfd7c..940fc8e 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -50,8 +50,6 @@
         src/common/float_image_utils.cpp
         src/vtk/pcl_image_canvas_source_2d.cpp
         src/vtk/pcl_context_item.cpp
-        src/vtk/vtkVertexBufferObject.cxx
-        src/vtk/vtkVertexBufferObjectMapper.cxx
         src/vtk/vtkRenderWindowInteractorFix.cpp
         )
     if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "5.6")
@@ -67,6 +65,13 @@
             )
     endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.6")
 
+    if(VTK_RENDERING_BACKEND_OPENGL_VERSION VERSION_LESS 2)
+        list(APPEND srcs
+            "src/vtk/vtkVertexBufferObject.cxx"
+            "src/vtk/vtkVertexBufferObjectMapper.cxx"
+        )
+    endif()
+
     set(incs 
         "include/pcl/${SUBSYS_NAME}/eigen.h"
         "include/pcl/${SUBSYS_NAME}/boost.h"
@@ -127,11 +132,16 @@
     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/${SUBSYS_NAME}/vtk/vtkVertexBufferObject.h"
         "include/pcl/${SUBSYS_NAME}/vtk/vtkRenderWindowInteractorFix.h"
-        "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObjectMapper.h"
         )
 
+    if(VTK_RENDERING_BACKEND_OPENGL_VERSION VERSION_LESS 2)
+      list(APPEND vtk_incs
+        "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObject.h"
+        "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObjectMapper.h"
+      )
+    endif()
+
     # on apple, a workaround is used for the cocoa render window interactor
     if(APPLE)
       list(APPEND srcs
diff --git a/visualization/src/interactor_style.cpp b/visualization/src/interactor_style.cpp
index 9e9fdaf..f443b6b 100644
--- a/visualization/src/interactor_style.cpp
+++ b/visualization/src/interactor_style.cpp
@@ -64,7 +64,9 @@
 #include <vtkPointPicker.h>
 #include <vtkAreaPicker.h>

+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
 #include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
+#endif

 #define ORIENT_MODE 0
 #define SELECT_MODE 1
@@ -660,6 +662,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
         data->SetPoints (points);
         data->SetVerts (vertices);
         // Modify the mapper
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
         if (use_vbos_)
         {
           vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(act->actor->GetMapper ());
@@ -668,6 +671,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
           act->actor->SetMapper (mapper);
         }
         else
+#endif
         {
           vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
 #if VTK_MAJOR_VERSION < 6
@@ -704,6 +708,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
         vtkPolyData *data = static_cast<vtkPolyData*>(act->actor->GetMapper ()->GetInput ());
         data->GetPointData ()->SetScalars (scalars);
         // Modify the mapper
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
         if (use_vbos_)
         {
           vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(act->actor->GetMapper ());
@@ -714,6 +719,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
           act->actor->SetMapper (mapper);
         }
         else
+#endif
         {
           vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
           mapper->SetScalarRange (minmax);
diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index 007c251..40e516c 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -63,9 +63,12 @@
 #include <vtkPointPicker.h>

 #include <pcl/visualization/boost.h>
-#include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
 #include <pcl/visualization/vtk/vtkRenderWindowInteractorFix.h>

+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
+#include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
+#endif
+
 #include <vtkPolyLine.h>
 #include <vtkPolyDataMapper.h>
 #include <vtkRenderWindow.h>
@@ -1079,6 +1082,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
   if (!actor)
     actor = vtkSmartPointer<vtkLODActor>::New ();

+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
   if (use_vbos_)
   {
     vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
@@ -1111,6 +1115,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
     actor->SetMapper (mapper);
   }
   else
+#endif
   {
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 #if VTK_MAJOR_VERSION < 6
@@ -1157,6 +1162,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
   if (!actor)
     actor = vtkSmartPointer<vtkActor>::New ();

+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
   if (use_vbos_)
   {
     vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
@@ -1189,6 +1195,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
     actor->SetMapper (mapper);
   }
   else
+#endif
   {
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 #if VTK_MAJOR_VERSION < 6
@@ -2771,6 +2778,7 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
   vtkPolyData *data = static_cast<vtkPolyData*>(am_it->second.actor->GetMapper ()->GetInput ());
   data->GetPointData ()->SetScalars (scalars);
   // Modify the mapper
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
   if (use_vbos_)
   {
     vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(am_it->second.actor->GetMapper ());
@@ -2785,6 +2793,7 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
     //style_->setCloudActorMap (cloud_actor_map_);
   }
   else
+#endif
   {
     vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ());
     mapper->SetScalarRange (minmax);
@@ -4296,8 +4305,12 @@ pcl::visualization::PCLVisualizer::resetStoppedFlag ()
 void
 pcl::visualization::PCLVisualizer::setUseVbos (bool use_vbos)
 {
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
   use_vbos_ = use_vbos;
   style_->setUseVbos (use_vbos_);
+#else
+  PCL_WARN ("[PCLVisualizer::setUseVbos] Has no effect when OpenGL version is ≥ 2\n");
+#endif
 }