Merge pull request #363 from fran6co/vtk6-fixes

[Rebase] Make fixes for VTK 6

2d/CMakeLists.txt

@@ -38,7 +38,7 @@ if(build)
     include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" ${VTK_INCLUDE_DIRECTORIES})
     PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
     link_directories(${VTK_LINK_DIRECTORIES})
-    target_link_libraries("${LIB_NAME}" ${VTK_IO_TARGET_LINK_LIBRARIES} pcl_io)
+    target_link_libraries("${LIB_NAME}" ${VTK_LIBRARIES} pcl_io)
     PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
 
     #Install include files

CMakeLists.txt

@@ -352,12 +352,18 @@ 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 (PCL_SHARED_LIBS OR
         (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
       set(VTK_FOUND TRUE)
       find_package (QVTK)
-      message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})")
-      link_directories(${VTK_LIBRARY_DIRS})
+      if (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+         message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})")
+         link_directories(${VTK_LIBRARY_DIRS})
+      else(${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+         include (${VTK_USE_FILE})
+         message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARIES}")
+      endif (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
       set(HAVE_VTK ON)
     else ()
       set(VTK_FOUND OFF)

PCLConfig.cmake.in

@@ -306,7 +306,7 @@ macro(find_VTK)
   if(NOT ANDROID)
     find_package(VTK ${QUIET_})
     if (VTK_FOUND)
-      set(VTK_LIBRARIES vtkCommon vtkRendering vtkHybrid vtkCharts)
+      set(VTK_LIBRARIES "@VTK_LIBRARIES@")
     endif(VTK_FOUND)
   endif()
 endmacro(find_VTK)
@@ -465,9 +465,9 @@ macro(find_external_library _component _lib _is_optional)
     if(${LIB}_LIBRARIES)
       list(APPEND PCL_${COMPONENT}_LIBRARIES "${${LIB}_LIBRARIES}")
     endif(${LIB}_LIBRARIES)
-    if(${LIB}_DEFINITIONS)
+    if(${LIB}_DEFINITIONS AND NOT ${LIB} STREQUAL "VTK")
       list(APPEND PCL_${COMPONENT}_DEFINITIONS ${${LIB}_DEFINITIONS})
-    endif(${LIB}_DEFINITIONS)
+    endif(${LIB}_DEFINITIONS AND NOT ${LIB} STREQUAL "VTK")
   else(${LIB}_FOUND)
     if("${_is_optional}" STREQUAL "OPTIONAL")
       add_definitions("-DDISABLE_${LIB}")

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/mesh_source.h

@@ -192,7 +192,6 @@ namespace pcl
             filter_scale->Update ();
 
             vtkSmartPointer<vtkPolyData> mapper = filter_scale->GetOutput ();
-            mapper->Update ();
 
             //generate views
             pcl::apps::RenderViewsTesselatedSphere render_views;

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

@@ -137,7 +137,6 @@ namespace pcl
         }
 
         vtkSmartPointer<vtkPolyData> poly = mapper->GetInput ();
-        poly->Update ();
 
         uniform_sampling (poly, n_samples, cloud_out);
 

apps/CMakeLists.txt

@@ -77,10 +77,10 @@ if(build)
     target_link_libraries(pcl_pcd_organized_edge_detection pcl_common pcl_io pcl_features pcl_visualization)
 
     PCL_ADD_EXECUTABLE(pcl_face_trainer "${SUBSYS_NAME}" src/face_detection/face_trainer.cpp)
-    target_link_libraries(pcl_face_trainer 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 vtkRendering vtkIO)
+    target_link_libraries(pcl_face_trainer 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})
 
     PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_fs_face_detector "${SUBSYS_NAME}" src/face_detection//filesystem_face_detection.cpp)
-    target_link_libraries(pcl_fs_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 vtkRendering vtkIO)
+    target_link_libraries(pcl_fs_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})
 
     PCL_ADD_EXECUTABLE(pcl_stereo_ground_segmentation "${SUBSYS_NAME}" 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)
@@ -142,37 +142,37 @@ if(build)
       target_link_libraries(pcl_openni_organized_edge_detection pcl_common pcl_io pcl_features pcl_visualization)
 
       PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_face_detector "${SUBSYS_NAME}" src/face_detection//openni_face_detection.cpp src/face_detection//openni_frame_source.cpp)
-      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 vtkRendering vtkIO)
+      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 (QT4_FOUND AND VTK_USE_QVTK)
         # OpenNI Passthrough application demo
         QT4_WRAP_UI(openni_passthrough_ui src/openni_passthrough.ui)
         QT4_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 "${SUBSYS_NAME}" ${openni_passthrough_ui} ${openni_passthrough_moc} src/openni_passthrough.cpp)
-        target_link_libraries(pcl_openni_passthrough pcl_common pcl_io pcl_filters pcl_visualization QVTK ${QT_LIBRARIES})
+        target_link_libraries(pcl_openni_passthrough pcl_common pcl_io pcl_filters pcl_visualization ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
         # OpenNI Organized Connected Component application demo
         QT4_WRAP_UI(organized_segmentation_demo_ui src/organized_segmentation_demo.ui)
         QT4_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_OPT_BUNDLE(pcl_organized_segmentation_demo "${SUBSYS_NAME}" ${organized_segmentation_demo_ui} ${organized_segmentation_demo_moc} src/organized_segmentation_demo.cpp)
-        target_link_libraries(pcl_organized_segmentation_demo pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+        target_link_libraries(pcl_organized_segmentation_demo pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
         # Manual registration demo
         QT4_WRAP_UI(manual_registration_ui src/manual_registration/manual_registration.ui)
         QT4_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_OPT_BUNDLE(pcl_manual_registration "${SUBSYS_NAME}" ${manual_registration_ui} ${manual_registration_moc} src/manual_registration/manual_registration.cpp)
-        target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+        target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
         QT4_WRAP_UI(pcd_video_player_ui src/pcd_video_player/pcd_video_player.ui)
         QT4_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_OPT_BUNDLE(pcl_pcd_video_player "${SUBSYS_NAME}" ${pcd_video_player_ui} ${pcd_video_player_moc} src/pcd_video_player/pcd_video_player.cpp)
-        target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+        target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
         # Database processing (integration) demo
 #        QT4_WRAP_UI(db_proc_ui src/db_proc/db_proc.ui)
 #        QT4_WRAP_CPP(db_proc_moc include/pcl/apps/db_proc.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED)
 #        PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_db_proc "${SUBSYS_NAME}" ${db_proc_ui} ${db_proc_moc} src/db_proc/db_proc.cpp)
-#        target_link_libraries(pcl_db_proc pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+#        target_link_libraries(pcl_db_proc pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
       endif ()
 

apps/cloud_composer/CMakeLists.txt

@@ -120,7 +120,7 @@ if(build)
 
     set(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
     PCL_ADD_EXECUTABLE("${EXE_NAME}" "${SUBSUBSYS_NAME}" ${cloud_composer_ui} ${cloud_composer_moc} ${srcs} ${resource_srcs} ${item_srcs} ${selector_srcs} ${impl_incs})
-    target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_visualization pcl_filters QVTK ${QT_LIBRARIES})
+    target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_visualization pcl_filters ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
     # Install include files
     PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}" ${incs} ${item_incs} ${selector_incs})

apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp

@@ -54,18 +54,24 @@ pcl::cloud_composer::RectangularFrustumSelector::OnLeftButtonUp ()
         vtkMapper* mapper = act->actor->GetMapper ();
         vtkDataSet* data = mapper->GetInput ();
         vtkPolyData* poly_data = vtkPolyData::SafeDownCast (data);
+#if VTK_MAJOR_VERSION > 5
+        id_filter->SetInputData (poly_data);
+#else
         id_filter->SetInput (poly_data);
+#endif
         //extract_geometry->SetInput (poly_data);
 
         vtkSmartPointer<vtkPolyData> selected = vtkSmartPointer<vtkPolyData>::New ();
         glyph_filter->SetOutput (selected);
         glyph_filter->Update ();
+#if VTK_MAJOR_VERSION < 6
         selected->SetSource (0);
+#endif
         if (selected->GetNumberOfPoints() > 0)
         {
           qDebug () << "Selected " << selected->GetNumberOfPoints () << " points.";
           id_selected_data_map.insert ( QString::fromStdString ((*it).first), selected);
-          #if VTK_MAJOR_VERSION <= 5
+          #if VTK_MAJOR_VERSION < 6
             append->AddInput (selected);
           #else // VTK 6
             append->AddInputData (selected);
@@ -77,9 +83,12 @@ pcl::cloud_composer::RectangularFrustumSelector::OnLeftButtonUp ()
   append->Update ();
   vtkSmartPointer<vtkPolyData> all_points = append->GetOutput ();
   qDebug () << "Allpoints = " <<all_points->GetNumberOfPoints ();
-
-  selected_mapper->SetInput (all_points);
 
+#if VTK_MAJOR_VERSION < 6
+  selected_mapper->SetInput (all_points);
+#else
+  selected_mapper->SetInputData (all_points);
+#endif
   selected_mapper->ScalarVisibilityOff ();
 
   vtkIdTypeArray* ids = vtkIdTypeArray::SafeDownCast (all_points->GetPointData ()->GetArray ("OriginalIds"));

apps/modeler/CMakeLists.txt

@@ -109,7 +109,7 @@ if(build)
   # Generate executable
   set(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
   PCL_ADD_EXECUTABLE("${EXE_NAME}" "${SUBSUBSYS_NAME}" ${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 QVTK ${QT_LIBRARIES})
+  target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_kdtree pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search ${QVTK_LIBRARY} ${QT_LIBRARIES})
 
   # Put the ui in the windows project file
   IF("${CMAKE_BUILD_TOOL}" MATCHES "msdev")

apps/modeler/src/normals_actor_item.cpp

@@ -137,7 +137,11 @@ pcl::modeler::NormalsActorItem::initImpl()
   createNormalLines();
 
   vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION < 6
   mapper->SetInput(poly_data_);
+#else
+  mapper->SetInputData (poly_data_);
+#endif
 
   vtkSmartPointer<vtkDataArray> scalars;
   cloud_mesh_->getColorScalarsFromField(scalars, color_scheme_);
@@ -166,8 +170,6 @@ pcl::modeler::NormalsActorItem::updateImpl()
   scalars->GetRange(minmax);
   actor_->GetMapper()->SetScalarRange(minmax);
 
-  poly_data_->Update();
-
   return;
 }
 

apps/modeler/src/points_actor_item.cpp

@@ -64,13 +64,12 @@ void
 pcl::modeler::PointsActorItem::initImpl()
 {
   poly_data_->SetPoints(cloud_mesh_->getVtkPoints());
-  poly_data_->Update();
 
   vtkSmartPointer<vtkVertexGlyphFilter> vertex_glyph_filter = vtkSmartPointer<vtkVertexGlyphFilter>::New();
-#if VTK_MAJOR_VERSION <= 5
+#if VTK_MAJOR_VERSION < 6
   vertex_glyph_filter->AddInput(poly_data_);
 #else
-  vertex_glyph_filter->AddInputData(polydata);
+  vertex_glyph_filter->AddInputData (poly_data_);
 #endif
   vertex_glyph_filter->Update();
 
@@ -109,8 +108,6 @@ pcl::modeler::PointsActorItem::updateImpl()
   scalars->GetRange(minmax);
   actor_->GetMapper()->SetScalarRange(minmax);
 
-  poly_data_->Update();
-
   return;
 }
 

apps/modeler/src/surface_actor_item.cpp

@@ -69,10 +69,13 @@ pcl::modeler::SurfaceActorItem::initImpl()
   vtkSmartPointer<vtkDataArray> scalars;
   cloud_mesh_->getColorScalarsFromField(scalars, color_scheme_);
   poly_data_->GetPointData ()->SetScalars (scalars);
-  poly_data_->Update();
 
   vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION < 6
   mapper->SetInput(poly_data_);
+#else
+  mapper->SetInputData (poly_data_);
+#endif
 
   double minmax[2];
   scalars->GetRange(minmax);
@@ -108,8 +111,6 @@ pcl::modeler::SurfaceActorItem::updateImpl()
   scalars->GetRange(minmax);
   actor_->GetMapper()->SetScalarRange(minmax);
 
-  poly_data_->Update();
-
   return;
 }
 

apps/src/render_views_tesselated_sphere.cpp

@@ -61,7 +61,11 @@ pcl::apps::RenderViewsTesselatedSphere::generateViews() {
 
   vtkSmartPointer<vtkTransformFilter> trans_filter_center = vtkSmartPointer<vtkTransformFilter>::New ();
   trans_filter_center->SetTransform (trans_center);
+#if VTK_MAJOR_VERSION < 6
   trans_filter_center->SetInput (polydata_);
+#else
+  trans_filter_center->SetInputData (polydata_);
+#endif
   trans_filter_center->Update ();
 
   vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
@@ -116,7 +120,6 @@ pcl::apps::RenderViewsTesselatedSphere::generateViews() {
 
   // Get camera positions
   vtkPolyData *sphere = subdivide->GetOutput ();
-  sphere->Update ();
 
   std::vector<Eigen::Vector3f> cam_positions;
   if (!use_vertices_)

cmake/Modules/FindQVTK.cmake

@@ -7,17 +7,26 @@
 # QVTK_LIBRARY - QVTK library.
 # if QVTK_FOUND then QVTK_INCLUDE_DIR is appended to VTK_INCLUDE_DIRS and 
 # QVTK_LIBRARY is appended to QVTK_LIBRARY_DIR
-
-find_library (QVTK_LIBRARY QVTK HINTS ${VTK_DIR} ${VTK_DIR}/bin)
-find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
-find_package_handle_standard_args(QVTK DEFAULT_MSG
-  QVTK_LIBRARY QVTK_INCLUDE_DIR)
-
-if(NOT QVTK_FOUND)
-  set (VTK_USE_QVTK OFF)
-else(NOT QVTK_FOUND)
-  get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH)
-  set (VTK_LIBRARY_DIRS ${VTK_LIBRARY_DIRS} ${QVTK_LIBRARY_DIR})
-  set (VTK_INCLUDE_DIRS ${VTK_INCLUDE_DIRS} ${QVTK_INCLUDE_DIR})
-  set (VTK_USE_QVTK ON)
-endif(NOT QVTK_FOUND)
+if (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+  find_library (QVTK_LIBRARY QVTK HINTS ${VTK_DIR} ${VTK_DIR}/bin)
+  find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
+  find_package_handle_standard_args(QVTK DEFAULT_MSG
+    QVTK_LIBRARY QVTK_INCLUDE_DIR)
+  if(NOT QVTK_FOUND)
+    set (VTK_USE_QVTK OFF)
+  else(NOT QVTK_FOUND)
+    get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH)
+    set (VTK_LIBRARY_DIRS ${VTK_LIBRARY_DIRS} ${QVTK_LIBRARY_DIR})
+    set (VTK_INCLUDE_DIRS ${VTK_INCLUDE_DIRS} ${QVTK_INCLUDE_DIR})
+    set (VTK_USE_QVTK ON)
+  endif(NOT QVTK_FOUND)
+else (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+  list (FIND VTK_MODULES_ENABLED vtkGUISupportQt GUI_SUUPORT_QT_FOUND)
+  list (FIND VTK_MODULES_ENABLED vtkRenderingQt RENDERING_QT_FOUND)
+  if (GUI_SUUPORT_QT_FOUND AND RENDERING_QT_FOUND)
+    set (VTK_USE_QVTK ON)
+    set (QVTK_LIBRARY vtkRenderingQt vtkGUISupportQt)
+  else (GUI_SUUPORT_QT_FOUND AND RENDERING_QT_FOUND)
+    unset(QVTK_FOUND)
+  endif (GUI_SUUPORT_QT_FOUND AND RENDERING_QT_FOUND)
+endif (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")

io/CMakeLists.txt

@@ -293,7 +293,7 @@ if(build)
     add_definitions(${VTK_DEFINES})
     PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
     link_directories(${VTK_LINK_DIRECTORIES})
-    target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_IO_TARGET_LINK_LIBRARIES} ${VTK_COMMON_TARGET_LINK_LIBRARIES})
+    target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES} )
     if(PNG_FOUND)
       target_link_libraries("${LIB_NAME}" "${PNG_LIBRARY}")
     endif(PNG_FOUND)

io/include/pcl/io/impl/vtk_lib_io.hpp

@@ -51,6 +51,7 @@
 #ifdef __GNUC__
 #pragma GCC system_header
 #endif
+#include <vtkVersion.h>
 #include <vtkFloatArray.h>
 #include <vtkPointData.h>
 #include <vtkPoints.h>
@@ -377,7 +378,7 @@ pcl::io::pointCloudTovtkPolyData (const pcl::PointCloud<PointT>& cloud, vtkPolyD
 
   // Add 0D topology to every point
   vtkSmartPointer<vtkVertexGlyphFilter> vertex_glyph_filter = vtkSmartPointer<vtkVertexGlyphFilter>::New ();
-  #if VTK_MAJOR_VERSION <= 5
+  #if VTK_MAJOR_VERSION < 6
     vertex_glyph_filter->AddInputConnection (temp_polydata->GetProducerPort ());
   #else
     vertex_glyph_filter->SetInputData (temp_polydata);

io/include/pcl/io/vtk_lib_io.h

@@ -54,6 +54,7 @@
 #ifdef __GNUC__
 #pragma GCC system_header 
 #endif
+#include <vtkVersion.h>
 #include <vtkSmartPointer.h>
 #include <vtkStructuredGrid.h>
 #include <vtkPoints.h>