Patch for PCL 1.11.1 to add vtk support in ios build

pcl_1_11_1_vtk_ios_support.patch

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e5aa7f40a..13fb3b874 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -370,7 +370,7 @@ endif()
 
 # Find VTK
 option(WITH_VTK "Build VTK-Visualizations" TRUE)
-if(WITH_VTK AND NOT ANDROID)
+if(WITH_VTK)
   set(PCL_VTK_COMPONENTS
     vtkChartsCore
     vtkCommonCore
@@ -393,12 +393,25 @@ if(WITH_VTK AND NOT ANDROID)
     vtkViewsContext2D
   )
   find_package(VTK COMPONENTS ${PCL_VTK_COMPONENTS})
+  if(NOT VTK_FOUND AND APPLE)
+    # find vtk.framework
+    find_library(VTK_LIBRARY vtk)
+    MARK_AS_ADVANCED (VTK_LIBRARY)
+    IF(VTK_LIBRARY)
+      SET(VTK_FOUND true)
+      SET(VTK_LIBRARIES ${VTK_LIBRARY})
+      SET(VTK_INCLUDE_DIRS ${VTK_LIBRARY}/Headers)
+      SET(VTK_MAJOR_VERSION 8)
+      SET(VTK_MINOR_VERSION 2)
+      SET(VTK_VERSION "8.2.0")
+      SET(VTK_RENDERING_BACKEND "OpenGL2")
+    ENDIF(VTK_LIBRARY)
+  endif(NOT VTK_FOUND AND APPLE)
   if(VTK_FOUND AND ("${VTK_VERSION}" VERSION_LESS 6.2))
     message(WARNING "The minimum required version of VTK is 6.2, but found ${VTK_VERSION}")
     set(VTK_FOUND FALSE)
   endif()
-
-  if(VTK_FOUND)
+  if(VTK_FOUND AND WITH_QT)
     if(NOT DEFINED VTK_RENDERING_BACKEND)
       # On old VTK versions this variable does not exist. In this case it is
       # safe to assume OpenGL backend
@@ -422,7 +435,7 @@ if(WITH_VTK AND NOT ANDROID)
       if(VTK_USE_FILE)
         include(${VTK_USE_FILE})
       endif()
-      message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, libs: ${VTK_LIBRARIES}")
+      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)
@@ -445,7 +458,6 @@ else()
   set(VTK_FOUND OFF)
 endif()
 
-
 #Find PCAP
 option(WITH_PCAP "pcap file capabilities in Velodyne HDL driver" TRUE)
 if(WITH_PCAP)
diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index 349ad7c4c..f0b7c9830 100644
--- a/PCLConfig.cmake.in
+++ b/PCLConfig.cmake.in
@@ -246,12 +246,26 @@ macro(find_VTK)
     else()
       set(VTK_DIR "${PCL_ROOT}/3rdParty/VTK/lib/vtk-@VTK_MAJOR_VERSION@.@VTK_MINOR_VERSION@" CACHE PATH "The directory containing VTKConfig.cmake")
     endif()
-  elseif(NOT VTK_DIR AND NOT ANDROID)
-    set(VTK_DIR "@VTK_DIR@" CACHE PATH "The directory containing VTKConfig.cmake")
+  elseif(NOT VTK_DIR)# AND NOT ANDROID)
+    set(VTK_DIR "@VTK_DIR@")# CACHE PATH "The directory containing VTKConfig.cmake")
   endif()
-  if(NOT ANDROID)
+  #if(NOT ANDROID)
     find_package(VTK ${QUIET_} COMPONENTS ${PCL_VTK_COMPONENTS})
-  endif()
+    if(NOT VTK_FOUND AND APPLE)
+      # find vtk.framework
+      find_library(VTK_LIBRARY vtk)
+      MARK_AS_ADVANCED (VTK_LIBRARY)
+      IF(VTK_LIBRARY)
+         SET(VTK_FOUND true)
+       SET(VTK_LIBRARIES ${VTK_LIBRARY})
+        SET(VTK_INCLUDE_DIRS ${VTK_LIBRARY}/Headers)
+        SET(VTK_MAJOR_VERSION 8)
+        SET(VTK_MINOR_VERSION 2)
+        SET(VTK_VERSION "8.2.0")
+        SET(VTK_RENDERING_BACKEND "OpenGL2")
+      ENDIF(VTK_LIBRARY)
+    endif(NOT VTK_FOUND AND APPLE)
+  #endif()
 endmacro()
 
 macro(find_libusb)
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index f23497100..2b12459a2 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -179,22 +179,22 @@ if(LIBUSB_1_FOUND)
   )
 endif()
 
-if(VTK_FOUND AND NOT ANDROID)
-  set(VTK_IO_INCLUDES
-    "include/pcl/${SUBSYS_NAME}/vtk_lib_io.h"
-    "include/pcl/${SUBSYS_NAME}/png_io.h"
-  )
-  set(VTK_IO_INCLUDES_IMPL
-    "include/pcl/${SUBSYS_NAME}/impl/vtk_lib_io.hpp"
-  )
-  set(VTK_IO_SOURCE
-    src/vtk_lib_io.cpp
-    src/png_io.cpp
-  )
-  set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkIO vtkImaging vtkHybrid vtkGraphics vtkRendering vtkFiltering vtkVolumeRendering)
+#if(VTK_FOUND AND NOT ANDROID)
+#  set(VTK_IO_INCLUDES
+#    "include/pcl/${SUBSYS_NAME}/vtk_lib_io.h"
+#    "include/pcl/${SUBSYS_NAME}/png_io.h"
+#  )
+#  set(VTK_IO_INCLUDES_IMPL
+#    "include/pcl/${SUBSYS_NAME}/impl/vtk_lib_io.hpp"
+#  )
+#  set(VTK_IO_SOURCE
+#    src/vtk_lib_io.cpp
+#    src/png_io.cpp
+#  )
+#  set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkIO vtkImaging vtkHybrid vtkGraphics vtkRendering vtkFiltering vtkVolumeRendering)
   # Indicates that we can rely on VTK to be present
-  set(VTK_DEFINES -DPCL_BUILT_WITH_VTK)
-endif()
+#  set(VTK_DEFINES -DPCL_BUILT_WITH_VTK)
+#endif()
 
 set(PLY_SOURCES src/ply/ply_parser.cpp)
 set(PLY_INCLUDES
@@ -228,6 +228,7 @@ set(srcs
   src/auto_io.cpp
   src/io_exception.cpp
   ${VTK_IO_SOURCE}
+  ${PLY_SOURCES}
   ${OPENNI_GRABBER_SOURCES}
   ${OPENNI2_GRABBER_SOURCES}
   ${IMAGE_SOURCES}
@@ -279,6 +280,7 @@ set(incs
   "include/pcl/${SUBSYS_NAME}/point_cloud_image_extractors.h"
   "include/pcl/${SUBSYS_NAME}/io_exception.h"
   ${VTK_IO_INCLUDES}
+  ${PLY_INCLUDES}
   ${OPENNI_GRABBER_INCLUDES}
   ${OPENNI2_GRABBER_INCLUDES}
   ${IMAGE_INCLUDES}
diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt
index e5e423113..27e957d90 100644
--- a/surface/CMakeLists.txt
+++ b/surface/CMakeLists.txt
@@ -28,7 +28,9 @@ if(QHULL_FOUND)
   )
 endif()
 
-if(VTK_FOUND AND NOT ANDROID)
+if(VTK_FOUND)
+  message(STATUS "Building with vtk_smoothing support! includes=${VTK_INCLUDE_DIRS}")
+  include_directories(${VTK_INCLUDE_DIRS})
   set(VTK_SMOOTHING_INCLUDES
     "include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk.h"
     "include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_utils.h"
@@ -175,7 +177,7 @@ if(BUILD_surface_on_nurbs)
   PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/on_nurbs" ${ON_NURBS_INCLUDES})
 endif()
 
-if(VTK_FOUND AND NOT ANDROID)
+if(VTK_FOUND)
   PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/vtk_smoothing" ${VTK_SMOOTHING_INCLUDES})
 endif()
 if(WIN32)
diff --git a/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp b/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp
index e8fae9698..6eaa55467 100644
--- a/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp
+++ b/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp
@@ -251,9 +251,9 @@ namespace pcl
     template<class T>
     SparseMatrix<T>& SparseMatrix<T>::operator *= (const T& V)
     {
-      for (int i=0; i<this->Rows(); i++)
+      for (int i=0; i<rows; i++)
       {
-        for(int ii=0;ii<m_ppElements[i].size();i++){m_ppElements[i][ii].Value*=V;}
+          for(int ii=0;ii<rowSizes[i];ii++){m_ppElements[i][ii].Value*=V;}
       }
       return *this;
     }
@@ -261,12 +261,12 @@ namespace pcl
     template<class T>
     SparseMatrix<T> SparseMatrix<T>::Multiply( const SparseMatrix<T>& M ) const
     {
-      SparseMatrix<T> R( this->Rows(), M.Columns() );
-      for(int i=0; i<R.Rows(); i++){
-        for(int ii=0;ii<m_ppElements[i].size();ii++){
+      SparseMatrix<T> R( rows, M._maxEntriesPerRow );
+      for(int i=0; i<R.rows; i++){
+        for(int ii=0;ii<rowSizes[i];ii++){
           int N=m_ppElements[i][ii].N;
           T Value=m_ppElements[i][ii].Value;
-          for(int jj=0;jj<M.m_ppElements[N].size();jj++){
+          for(int jj=0;jj<M.rowSizes[N];jj++){
             R(i,M.m_ppElements[N][jj].N) += Value * M.m_ppElements[N][jj].Value;
           }
         }
@@ -320,11 +320,11 @@ namespace pcl
     template<class T>
     SparseMatrix<T> SparseMatrix<T>::Transpose() const
     {
-      SparseMatrix<T> M( this->Columns(), this->Rows() );
+      SparseMatrix<T> M( _maxEntriesPerRow, rows );
 
-      for (int i=0; i<this->Rows(); i++)
+      for (int i=0; i<rows; i++)
       {
-        for(int ii=0;ii<m_ppElements[i].size();ii++){
+        for(int ii=0;ii<rowSizes[i];ii++){
           M(m_ppElements[i][ii].N,i) = m_ppElements[i][ii].Value;
         }
       }