diff --git a/2d/CMakeLists.txt b/2d/CMakeLists.txt
index 1d5b31904e3..967a3008510 100644
--- a/2d/CMakeLists.txt
+++ b/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
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ef3d926bbc5..302d1fa2cb6 100644
--- a/CMakeLists.txt
+++ b/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)
diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index d0cf8497c87..efbaeefce92 100644
--- a/PCLConfig.cmake.in
+++ b/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}")
diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/mesh_source.h b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/mesh_source.h
index c71deb64a19..3af9d17cdbe 100644
--- a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/mesh_source.h
+++ b/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;
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 f957cd52272..5860d12cfad 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
@@ -137,7 +137,6 @@ namespace pcl
         }
 
         vtkSmartPointer<vtkPolyData> poly = mapper->GetInput ();
-        poly->Update ();
 
         uniform_sampling (poly, n_samples, cloud_out);
 
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
index 08dc85fd3b4..bd2becdec99 100644
--- a/apps/CMakeLists.txt
+++ b/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 ()
 
diff --git a/apps/cloud_composer/CMakeLists.txt b/apps/cloud_composer/CMakeLists.txt
index c27e47d1f82..d4449752487 100644
--- a/apps/cloud_composer/CMakeLists.txt
+++ b/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})
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 52909b2d397..ad86a060afd 100644
--- a/apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp
+++ b/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"));
diff --git a/apps/modeler/CMakeLists.txt b/apps/modeler/CMakeLists.txt
index 0fb809ac0b6..7181cd46897 100644
--- a/apps/modeler/CMakeLists.txt
+++ b/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")
diff --git a/apps/modeler/src/normals_actor_item.cpp b/apps/modeler/src/normals_actor_item.cpp
index bb443f5b16f..fc8bd54126b 100755
--- a/apps/modeler/src/normals_actor_item.cpp
+++ b/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;
 }
 
diff --git a/apps/modeler/src/points_actor_item.cpp b/apps/modeler/src/points_actor_item.cpp
index 2c2474ac38b..fbd94669b25 100755
--- a/apps/modeler/src/points_actor_item.cpp
+++ b/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;
 }
 
diff --git a/apps/modeler/src/surface_actor_item.cpp b/apps/modeler/src/surface_actor_item.cpp
index cf7b0a5dc9a..6a8a9252868 100755
--- a/apps/modeler/src/surface_actor_item.cpp
+++ b/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;
 }
 
diff --git a/apps/src/render_views_tesselated_sphere.cpp b/apps/src/render_views_tesselated_sphere.cpp
index 513fb52606b..48e7dfe8ab5 100644
--- a/apps/src/render_views_tesselated_sphere.cpp
+++ b/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_)
diff --git a/cmake/Modules/FindQVTK.cmake b/cmake/Modules/FindQVTK.cmake
index 18ae5767a38..a6de52d0662 100644
--- a/cmake/Modules/FindQVTK.cmake
+++ b/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 (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index f66080c3ed1..d6e0e8dff23 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -293,7 +293,7 @@ if(build)
     add_definitions(${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)
diff --git a/io/include/pcl/io/impl/vtk_lib_io.hpp b/io/include/pcl/io/impl/vtk_lib_io.hpp
index fcd52f956b7..695e3464303 100644
--- a/io/include/pcl/io/impl/vtk_lib_io.hpp
+++ b/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);
diff --git a/io/include/pcl/io/vtk_lib_io.h b/io/include/pcl/io/vtk_lib_io.h
index 275a151ce9b..f5cbd23c1c5 100644
--- a/io/include/pcl/io/vtk_lib_io.h
+++ b/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>
diff --git a/io/src/vtk_lib_io.cpp b/io/src/vtk_lib_io.cpp
index dc4b1c8cef8..257138b6ac9 100644
--- a/io/src/vtk_lib_io.cpp
+++ b/io/src/vtk_lib_io.cpp
@@ -38,6 +38,7 @@
 #include <pcl/io/vtk_lib_io.h>
 #include <pcl/io/impl/vtk_lib_io.hpp>
 #include <pcl/PCLPointCloud2.h>
+#include <vtkVersion.h>
 #include <vtkCellArray.h>
 #include <vtkCellData.h>
 #include <vtkDoubleArray.h>
@@ -178,7 +179,11 @@ pcl::io::savePolygonFileVTK (const std::string &file_name, const pcl::PolygonMes
   pcl::io::mesh2vtk (mesh, poly_data);
 
   vtkSmartPointer<vtkPolyDataWriter> poly_writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
   poly_writer->SetInput (poly_data);
+#else
+  poly_writer->SetInputData (poly_data);
+#endif
   poly_writer->SetFileName (file_name.c_str ());
   poly_writer->Write ();
 
@@ -194,7 +199,11 @@ pcl::io::savePolygonFilePLY (const std::string &file_name, const pcl::PolygonMes
   pcl::io::mesh2vtk (mesh, poly_data);
 
   vtkSmartPointer<vtkPLYWriter> poly_writer = vtkSmartPointer<vtkPLYWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
   poly_writer->SetInput (poly_data);
+#else
+  poly_writer->SetInputData (poly_data);
+#endif
   poly_writer->SetFileName (file_name.c_str ());
 	poly_writer->SetArrayName ("Colors");
   poly_writer->Write ();
@@ -209,9 +218,12 @@ pcl::io::savePolygonFileSTL (const std::string &file_name, const pcl::PolygonMes
   vtkSmartPointer<vtkPolyData> poly_data = vtkSmartPointer<vtkPolyData>::New ();
 
   pcl::io::mesh2vtk (mesh, poly_data);
-  poly_data->Update ();
   vtkSmartPointer<vtkSTLWriter> poly_writer = vtkSmartPointer<vtkSTLWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
   poly_writer->SetInput (poly_data);
+#else
+  poly_writer->SetInputData (poly_data);
+#endif
   poly_writer->SetFileName (file_name.c_str ());
   poly_writer->Write ();
 
@@ -483,9 +495,13 @@ pcl::io::saveRangeImagePlanarFilePNG (
 {
   vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New();
   image->SetDimensions(range_image.width, range_image.height, 1);
+#if VTK_MAJOR_VERSION < 6
   image->SetNumberOfScalarComponents(1);
   image->SetScalarTypeToFloat();
   image->AllocateScalars();
+#else
+  image->AllocateScalars (VTK_FLOAT, 1);
+#endif
 
   int* dims = image->GetDimensions();
 
@@ -504,7 +520,11 @@ pcl::io::saveRangeImagePlanarFilePNG (
 
   vtkSmartPointer<vtkImageShiftScale> shiftScaleFilter = vtkSmartPointer<vtkImageShiftScale>::New();
   shiftScaleFilter->SetOutputScalarTypeToUnsignedChar();
+#if VTK_MAJOR_VERSION < 6
   shiftScaleFilter->SetInputConnection(image->GetProducerPort());
+#else
+  shiftScaleFilter->SetInputData (image);
+#endif
   shiftScaleFilter->SetShift(-1.0f * image->GetScalarRange()[0]); // brings the lower bound to 0
   shiftScaleFilter->SetScale(newRange/oldRange);
   shiftScaleFilter->Update();
diff --git a/outofcore/include/pcl/outofcore/visualization/axes.h b/outofcore/include/pcl/outofcore/visualization/axes.h
index 24c09eab271..e4c2bf76f53 100644
--- a/outofcore/include/pcl/outofcore/visualization/axes.h
+++ b/outofcore/include/pcl/outofcore/visualization/axes.h
@@ -9,6 +9,7 @@
 #include "object.h"
 
 // VTK
+#include <vtkVersion.h>
 #include <vtkActor.h>
 #include <vtkTubeFilter.h>
 #include <vtkAxes.h>
@@ -31,6 +32,7 @@ class Axes : public Object
     axes_ = vtkSmartPointer<vtkAxes>::New ();
     axes_->SetOrigin (0, 0, 0);
     axes_->SetScaleFactor (size);
+    axes_->Update ();
 
     vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
     axes_colors->Allocate (6);
@@ -42,17 +44,24 @@ class Axes : public Object
     axes_colors->InsertNextValue (1.0);
 
     vtkSmartPointer<vtkPolyData> axes_data = axes_->GetOutput ();
-    axes_data->Update ();
     axes_data->GetPointData ()->SetScalars (axes_colors);
 
     vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
     axes_tubes->SetInput (axes_data);
+#else
+    axes_tubes->SetInputData (axes_data);
+#endif
     axes_tubes->SetRadius (axes_->GetScaleFactor () / 100.0);
     axes_tubes->SetNumberOfSides (6);
 
     vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
     axes_mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
     axes_mapper->SetInput (axes_tubes->GetOutput ());
+#else
+    axes_mapper->SetInputData (axes_tubes->GetOutput ());
+#endif
 
     axes_actor_ = vtkSmartPointer<vtkActor>::New ();
     axes_actor_->GetProperty ()->SetLighting (false);
diff --git a/outofcore/src/visualization/camera.cpp b/outofcore/src/visualization/camera.cpp
index 951a445748a..6f89e667307 100644
--- a/outofcore/src/visualization/camera.cpp
+++ b/outofcore/src/visualization/camera.cpp
@@ -98,7 +98,7 @@ Camera::computeFrustum ()
 //
 //  vtkSmartPointer<vtkPolyDataMapper> hull_mapper = static_cast<vtkPolyDataMapper*> (hull_actor_->GetMapper ());
 //
-//#if VTK_MAJOR_VERSION <= 5
+//#if VTK_MAJOR_VERSION < 6
 //  hull_mapper->SetInput (hullData);
 //#else
 //  hull_mapper->SetInputData(hullData);
diff --git a/outofcore/src/visualization/grid.cpp b/outofcore/src/visualization/grid.cpp
index c48f9aad6a3..b19cbe326be 100644
--- a/outofcore/src/visualization/grid.cpp
+++ b/outofcore/src/visualization/grid.cpp
@@ -3,6 +3,7 @@
 #include <pcl/outofcore/visualization/grid.h>
 
 // VTK
+#include <vtkVersion.h>
 #include <vtkActor.h>
 #include <vtkRectilinearGrid.h>
 #include <vtkDoubleArray.h>
@@ -36,7 +37,7 @@ Grid::Grid (std::string name, int size/*=10*/, double spacing/*=1.0*/) :
   grid_->SetYCoordinates (y_array);
   grid_->SetZCoordinates (xz_array);
 
-#if VTK_MAJOR_VERSION <= 5
+#if VTK_MAJOR_VERSION < 6
   grid_mapper->SetInputConnection (grid_->GetProducerPort ());
 #else
   grid_mapper->SetInputData(grid_);
diff --git a/outofcore/src/visualization/outofcore_cloud.cpp b/outofcore/src/visualization/outofcore_cloud.cpp
index 356f5934f10..d712c835b5c 100644
--- a/outofcore/src/visualization/outofcore_cloud.cpp
+++ b/outofcore/src/visualization/outofcore_cloud.cpp
@@ -24,6 +24,7 @@
 #include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
 
 // VTK
+#include <vtkVersion.h>
 #include <vtkActor.h>
 #include <vtkPolyData.h>
 #include <vtkProperty.h>
@@ -159,10 +160,18 @@ OutofcoreCloud::updateVoxelData ()
     double y = voxel_centers[i].y;
     double z = voxel_centers[i].z;
 
+#if VTK_MAJOR_VERSION < 6
     voxel_data->AddInput (getVtkCube (x - s, x + s, y - s, y + s, z - s, z + s));
+#else
+    voxel_data->AddInputData (getVtkCube (x - s, x + s, y - s, y + s, z - s, z + s));
+#endif
   }
 
+#if VTK_MAJOR_VERSION < 6
   voxel_mapper->SetInput (voxel_data->GetOutput ());
+#else
+  voxel_mapper->SetInputData (voxel_data->GetOutput ());
+#endif
 
   voxel_actor_->SetMapper (voxel_mapper);
   voxel_actor_->GetProperty ()->SetRepresentationToWireframe ();
diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt
index 89cc5c67e3a..dec7d123d2e 100644
--- a/surface/CMakeLists.txt
+++ b/surface/CMakeLists.txt
@@ -44,7 +44,12 @@ if(build)
             src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp
             src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp
             src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp)
-        set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkGraphics)
+        
+        if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "6.0")
+            set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkGraphics)
+        else("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "6.0")
+            set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommonCore vtkCommonDataModel vtkCommonExecutionModel vtkFiltersModeling)
+        endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "6.0")
     endif()
     
     SET(BUILD_surface_on_nurbs 0 CACHE BOOL "Fitting NURBS to point-clouds using openNURBS" )
@@ -154,7 +159,7 @@ if(build)
     include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" ${VTK_INCLUDE_DIRS} "${CMAKE_CURRENT_SOURCE_DIR}")
     link_directories(${VTK_LIBRARY_DIRS})
     PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${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_SMOOTHING_TARGET_LINK_LIBRARIES} ${ON_NURBS_LIBRARIES})
+    target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${VTK_LIBRARIES} ${ON_NURBS_LIBRARIES})
     if(QHULL_FOUND)
       target_link_libraries("${LIB_NAME}" ${QHULL_LIBRARIES})
     endif(QHULL_FOUND)
diff --git a/surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp b/surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp
index 9485106a168..a10e68abd05 100644
--- a/surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp
+++ b/surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp
@@ -39,6 +39,7 @@
 #include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>
 #include <pcl/surface/vtk_smoothing/vtk_utils.h>
 
+#include <vtkVersion.h>
 #include <vtkQuadricDecimation.h>
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -59,7 +60,11 @@ pcl::MeshQuadricDecimationVTK::performProcessing (pcl::PolygonMesh &output)
   // Apply the VTK algorithm
   vtkSmartPointer<vtkQuadricDecimation> vtk_quadric_decimation_filter = vtkSmartPointer<vtkQuadricDecimation>::New();
   vtk_quadric_decimation_filter->SetTargetReduction (target_reduction_factor_);
+#if VTK_MAJOR_VERSION < 6
   vtk_quadric_decimation_filter->SetInput (vtk_polygons_);
+#else
+  vtk_quadric_decimation_filter->SetInputData (vtk_polygons_);
+#endif
   vtk_quadric_decimation_filter->Update ();
 
   vtk_polygons_ = vtk_quadric_decimation_filter->GetOutput ();
diff --git a/surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp b/surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp
index ac6ced468f9..1134006554a 100644
--- a/surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp
+++ b/surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp
@@ -39,6 +39,7 @@
 #include <pcl/surface/vtk_smoothing/vtk_mesh_smoothing_laplacian.h>
 #include <pcl/surface/vtk_smoothing/vtk_utils.h>
 
+#include <vtkVersion.h>
 #include <vtkSmoothPolyDataFilter.h>
 
 
@@ -51,7 +52,11 @@ pcl::MeshSmoothingLaplacianVTK::performProcessing (pcl::PolygonMesh &output)
 
   // Apply the VTK algorithm
   vtkSmartPointer<vtkSmoothPolyDataFilter> vtk_smoother = vtkSmoothPolyDataFilter::New ();
+#if VTK_MAJOR_VERSION < 6
   vtk_smoother->SetInput (vtk_polygons_);
+#else
+  vtk_smoother->SetInputData (vtk_polygons_);
+#endif
   vtk_smoother->SetNumberOfIterations (num_iter_);
   if (convergence_ != 0.0f)
     vtk_smoother->SetConvergence (convergence_);
diff --git a/surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp b/surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp
index d01f155d6e2..67873674263 100644
--- a/surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp
+++ b/surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp
@@ -39,6 +39,7 @@
 #include <pcl/surface/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.h>
 #include <pcl/surface/vtk_smoothing/vtk_utils.h>
 
+#include <vtkVersion.h>
 #include <vtkWindowedSincPolyDataFilter.h>
 
 
@@ -51,7 +52,11 @@ pcl::MeshSmoothingWindowedSincVTK::performProcessing (pcl::PolygonMesh &output)
 
   // Apply the VTK algorithm
   vtkSmartPointer<vtkWindowedSincPolyDataFilter> vtk_smoother = vtkWindowedSincPolyDataFilter::New ();
+#if VTK_MAJOR_VERSION < 6
   vtk_smoother->SetInput (vtk_polygons_);
+#else
+  vtk_smoother->SetInputData (vtk_polygons_);
+#endif
   vtk_smoother->SetNumberOfIterations (num_iter_);
   vtk_smoother->SetPassBand (pass_band_);
   vtk_smoother->SetNormalizeCoordinates (normalize_coordinates_);
diff --git a/surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp b/surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp
index d6309e3fa28..7debf28bba2 100644
--- a/surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp
+++ b/surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp
@@ -39,6 +39,7 @@
 #include <pcl/surface/vtk_smoothing/vtk_mesh_subdivision.h>
 #include <pcl/surface/vtk_smoothing/vtk_utils.h>
 
+#include <vtkVersion.h>
 #include <vtkLinearSubdivisionFilter.h>
 #include <vtkLoopSubdivisionFilter.h>
 #include <vtkButterflySubdivisionFilter.h>
@@ -78,7 +79,11 @@ pcl::MeshSubdivisionVTK::performProcessing (pcl::PolygonMesh &output)
       break;
   }
 
+#if VTK_MAJOR_VERSION < 6
   vtk_subdivision_filter->SetInput (vtk_polygons_);
+#else
+  vtk_subdivision_filter->SetInputData (vtk_polygons_);
+#endif
   vtk_subdivision_filter->Update ();
 
   vtk_polygons_ = vtk_subdivision_filter->GetOutput ();
diff --git a/surface/src/vtk_smoothing/vtk_utils.cpp b/surface/src/vtk_smoothing/vtk_utils.cpp
index 9a4e7dc6382..7c47a797dc2 100644
--- a/surface/src/vtk_smoothing/vtk_utils.cpp
+++ b/surface/src/vtk_smoothing/vtk_utils.cpp
@@ -41,6 +41,7 @@
 
 #include <pcl/conversions.h>
 #include <pcl/common/common.h>
+#include <vtkVersion.h>
 #include <vtkCellArray.h>
 #include <vtkTriangleFilter.h>
 #include <vtkPoints.h>
@@ -63,7 +64,11 @@ pcl::VTKUtils::convertToVTK (const pcl::PolygonMesh &triangles, vtkSmartPointer<
   mesh2vtk (triangles, vtk_polygons);
 
   vtkSmartPointer<vtkTriangleFilter> vtk_triangles = vtkTriangleFilter::New ();
+#if VTK_MAJOR_VERSION < 6
   vtk_triangles->SetInput (vtk_polygons);
+#else
+  vtk_triangles->SetInputData (vtk_polygons);
+#endif
   vtk_triangles->Update();
 
   triangles_out_vtk = vtk_triangles->GetOutput ();
diff --git a/test/outofcore/test_outofcore.cpp b/test/outofcore/test_outofcore.cpp
index ab7d6bf2fd6..06693ae9114 100644
--- a/test/outofcore/test_outofcore.cpp
+++ b/test/outofcore/test_outofcore.cpp
@@ -55,8 +55,6 @@ using namespace std;
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
-using namespace pcl;
-
 #include <pcl/outofcore/outofcore.h>
 #include <pcl/outofcore/outofcore_impl.h>
 
@@ -523,7 +521,7 @@ TEST_F (OutofcoreTest, Outofcore_PointcloudConstructor)
   const Eigen::Vector3d max (1024, 1024, 1024);
 
   //create a point cloud
-  PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
   
   test_cloud->width = numPts;
   test_cloud->height = 1;
@@ -557,7 +555,7 @@ TEST_F (OutofcoreTest, Outofcore_PointsOnBoundaries)
   const Eigen::Vector3d min (-1,-1,-1);
   const Eigen::Vector3d max (1,1,1);
   
-  PointCloud<PointT>::Ptr cloud (new PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT> ());
   cloud->width = 8;
   cloud->height =1;
   cloud->reserve (8);
@@ -604,8 +602,8 @@ TEST_F (OutofcoreTest, Outofcore_MultiplePointClouds)
   const Eigen::Vector3d max (1024,1024,1024);
   
   //create a point cloud
-  PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
-  PointCloud<PointT>::Ptr second_cloud (new PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr second_cloud (new pcl::PointCloud<PointT> ());
 
   test_cloud->width = numPts;
   test_cloud->height = 1;
@@ -667,8 +665,8 @@ TEST_F (OutofcoreTest, Outofcore_PointCloudInput_LOD)
   const Eigen::Vector3d max (1024,1024,1024);
   
   //create a point cloud
-  PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
-  PointCloud<PointT>::Ptr second_cloud (new PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr second_cloud (new pcl::PointCloud<PointT> ());
 
   test_cloud->width = numPts;
   test_cloud->height = 1;
@@ -716,7 +714,7 @@ TEST_F (OutofcoreTest, PointCloud2_Constructors)
   const boost::uint64_t depth = 2;
   
   //create a point cloud
-  PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
 
   test_cloud->width = numPts;
   test_cloud->height = 1;
@@ -763,7 +761,7 @@ TEST_F (OutofcoreTest, PointCloud2_Insertion)
 
   pcl::PCLPointCloud2::Ptr input_cloud (new pcl::PCLPointCloud2 ());
 
-  toPCLPointCloud2<PointXYZ> (point_cloud, *input_cloud);
+  pcl::toPCLPointCloud2<pcl::PointXYZ> (point_cloud, *input_cloud);
   ASSERT_EQ (point_cloud.width*point_cloud.height, input_cloud->width*input_cloud->height);
 
   octree_disk octreeA (min, max, smallest_voxel_dim, filename_otreeA, "ECEF");
@@ -785,8 +783,8 @@ TEST_F (OutofcoreTest, PointCloud2_MultiplePointCloud)
   const Eigen::Vector3d max (100.1, 100.1, 100.1);
 
   //create a point cloud
-  PointCloud<PointT>::Ptr first_cloud (new PointCloud<PointT> ());
-  PointCloud<PointT>::Ptr second_cloud (new PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr first_cloud (new pcl::PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr second_cloud (new pcl::PointCloud<PointT> ());
 
   first_cloud->width = numPts;
   first_cloud->height = 1;
@@ -818,8 +816,8 @@ TEST_F (OutofcoreTest, PointCloud2_MultiplePointCloud)
   pcl::PCLPointCloud2::Ptr first_cloud_ptr (new pcl::PCLPointCloud2 ());
   pcl::PCLPointCloud2::Ptr second_cloud_ptr (new pcl::PCLPointCloud2 ());
   
-  toPCLPointCloud2<PointT> (*first_cloud, *first_cloud_ptr);
-  toPCLPointCloud2<PointT> (*second_cloud, *second_cloud_ptr);
+  pcl::toPCLPointCloud2<PointT> (*first_cloud, *first_cloud_ptr);
+  pcl::toPCLPointCloud2<PointT> (*second_cloud, *second_cloud_ptr);
 
   //Create an outofcore tree which just concatenates the two clouds into a single PCD in the root node. Check that the number of points is correct.
   octree_disk shallow_outofcore (0/*depth*/, min, max, filename_otreeB, "ECEF");
@@ -847,7 +845,7 @@ TEST_F (OutofcoreTest, PointCloud2_QueryBoundingBox)
   const boost::uint64_t depth = 2;
 
   //create a point cloud
-  PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
 
   test_cloud->width = numPts;
   test_cloud->height = 1;
@@ -899,7 +897,7 @@ TEST_F (OutofcoreTest, PointCloud2_Query)
   const boost::uint64_t depth = 2;
   
   //create a point cloud
-  PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
+  pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
 
   test_cloud->width = numPts;
   test_cloud->height = 1;
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index 11db215102f..78c2c552826 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -235,13 +235,13 @@ if (build)
         target_link_libraries(pcl_octree_viewer pcl_common pcl_io pcl_octree pcl_visualization pcl_kdtree pcl_filters)
 
         PCL_ADD_EXECUTABLE(pcl_mesh2pcd "${SUBSYS_NAME}" mesh2pcd.cpp)
-        target_link_libraries(pcl_mesh2pcd pcl_common pcl_io pcl_visualization pcl_filters vtkCommon)
+        target_link_libraries(pcl_mesh2pcd pcl_common pcl_io pcl_visualization pcl_filters ${VTK_LIBRARIES})
         
         PCL_ADD_EXECUTABLE(pcl_mesh_sampling "${SUBSYS_NAME}" mesh_sampling.cpp)
-        target_link_libraries(pcl_mesh_sampling pcl_common pcl_io pcl_visualization pcl_filters vtkCommon)
+        target_link_libraries(pcl_mesh_sampling pcl_common pcl_io pcl_visualization pcl_filters ${VTK_LIBRARIES})
         
         PCL_ADD_EXECUTABLE(pcl_virtual_scanner "${SUBSYS_NAME}" virtual_scanner.cpp)
-        target_link_libraries(pcl_virtual_scanner pcl_common pcl_io pcl_filters pcl_visualization vtkCommon vtkGraphics)
+        target_link_libraries(pcl_virtual_scanner pcl_common pcl_io pcl_filters pcl_visualization ${VTK_LIBRARIES})
 
         PCL_ADD_EXECUTABLE (pcl_voxel_grid_occlusion_estimation "${SUBSYS_NAME}" voxel_grid_occlusion_estimation.cpp)
         target_link_libraries (pcl_voxel_grid_occlusion_estimation pcl_common pcl_io pcl_filters pcl_visualization)
diff --git a/tools/mesh2pcd.cpp b/tools/mesh2pcd.cpp
index 0ef0f889236..7401a1c798d 100644
--- a/tools/mesh2pcd.cpp
+++ b/tools/mesh2pcd.cpp
@@ -111,15 +111,15 @@ main (int argc, char **argv)
   {
     vtkSmartPointer<vtkPLYReader> readerQuery = vtkSmartPointer<vtkPLYReader>::New ();
     readerQuery->SetFileName (argv[ply_file_indices[0]]);
+    readerQuery->Update ();
     polydata1 = readerQuery->GetOutput ();
-    polydata1->Update ();
   }
   else if (obj_file_indices.size () == 1)
   {
     vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
     readerQuery->SetFileName (argv[obj_file_indices[0]]);
+    readerQuery->Update ();
     polydata1 = readerQuery->GetOutput ();
-    polydata1->Update ();
   }
 
   bool INTER_VIS = false;
diff --git a/tools/mesh_sampling.cpp b/tools/mesh_sampling.cpp
index d25760e55c9..ec3a1098171 100644
--- a/tools/mesh_sampling.cpp
+++ b/tools/mesh_sampling.cpp
@@ -38,6 +38,7 @@
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/common/transforms.h>
+#include <vtkVersion.h>
 #include <vtkPLYReader.h>
 #include <vtkOBJReader.h>
 #include <vtkTriangle.h>
@@ -196,20 +197,23 @@ main (int argc, char **argv)
   {
     vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
     readerQuery->SetFileName (argv[obj_file_indices[0]]);
+    readerQuery->Update ();
     polydata1 = readerQuery->GetOutput ();
-    polydata1->Update ();
   }
 
   //make sure that the polygons are triangles!
   vtkSmartPointer<vtkTriangleFilter> triangleFilter = vtkSmartPointer<vtkTriangleFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
   triangleFilter->SetInput (polydata1);
+#else
+  triangleFilter->SetInputData (polydata1);
+#endif
   triangleFilter->Update ();
 
   vtkSmartPointer<vtkPolyDataMapper> triangleMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
   triangleMapper->SetInputConnection (triangleFilter->GetOutputPort ());
   triangleMapper->Update();
   polydata1 = triangleMapper->GetInput();
-  polydata1->Update ();
 
   bool INTER_VIS = false;
   bool VIS = true;
diff --git a/tools/obj2vtk.cpp b/tools/obj2vtk.cpp
index 8afe1b1cada..4af484aac16 100644
--- a/tools/obj2vtk.cpp
+++ b/tools/obj2vtk.cpp
@@ -76,12 +76,16 @@ main (int argc, char** argv)
   vtkSmartPointer<vtkPolyData> polydata;
   vtkSmartPointer<vtkOBJReader> reader = vtkSmartPointer<vtkOBJReader>::New ();
   reader->SetFileName (argv[obj_file_indices[0]]);
+  reader->Update ();
   polydata = reader->GetOutput ();
-  polydata->Update ();
 
   // Convert to VTK and save
   vtkSmartPointer<vtkPolyDataWriter> writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
   writer->SetInput (polydata);
+#else
+  writer->SetInputData (polydata);
+#endif
   writer->SetFileName (argv[vtk_file_indices[0]]);
   writer->Write ();
 }
diff --git a/tools/obj_rec_ransac_accepted_hypotheses.cpp b/tools/obj_rec_ransac_accepted_hypotheses.cpp
index fb33949013a..b1bf3ddb423 100644
--- a/tools/obj_rec_ransac_accepted_hypotheses.cpp
+++ b/tools/obj_rec_ransac_accepted_hypotheses.cpp
@@ -49,6 +49,7 @@
 #include <pcl/console/parse.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_cloud.h>
+#include <vtkVersion.h>
 #include <vtkPolyDataReader.h>
 #include <vtkRenderWindow.h>
 #include <vtkTransformPolyDataFilter.h>
@@ -323,13 +324,21 @@ update (CallbackParameters* params)
     // Setup the transformator
     vtkSmartPointer<vtkTransformPolyDataFilter> vtk_transformator = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
     vtk_transformator->SetTransform (vtk_transform);
+#if VTK_MAJOR_VERSION < 6
     vtk_transformator->SetInput (vtk_model);
+#else
+    vtk_transformator->SetInputData (vtk_model);
+#endif
     vtk_transformator->Update ();
 
     // Visualize
     vtkSmartPointer<vtkActor> vtk_actor = vtkSmartPointer<vtkActor>::New();
     vtkSmartPointer<vtkPolyDataMapper> vtk_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
     vtk_mapper->SetInput(vtk_transformator->GetOutput ());
+#else
+    vtk_mapper->SetInputData (vtk_transformator->GetOutput ());
+#endif
     vtk_actor->SetMapper(vtk_mapper);
     // Set the appearance & add to the renderer
     vtk_actor->GetProperty ()->SetColor (0.6, 0.7, 0.9);
diff --git a/tools/obj_rec_ransac_model_opps.cpp b/tools/obj_rec_ransac_model_opps.cpp
index d056b18a0c1..c77cac7ee0d 100644
--- a/tools/obj_rec_ransac_model_opps.cpp
+++ b/tools/obj_rec_ransac_model_opps.cpp
@@ -48,6 +48,7 @@
 #include <pcl/console/parse.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_cloud.h>
+#include <vtkVersion.h>
 #include <vtkPolyDataReader.h>
 #include <vtkDoubleArray.h>
 #include <vtkDataArray.h>
@@ -215,7 +216,11 @@ void showModelOpps (PCLVisualizer& viz, const ModelLibrary::HashTable& hash_tabl
   // Save the normals
   vtk_opps->GetPointData ()->SetNormals (vtk_normals);
   // Setup the hedge hog object
+#if VTK_MAJOR_VERSION < 6
   vtk_hedge_hog->SetInput (vtk_opps);
+#else
+  vtk_hedge_hog->SetInputData (vtk_opps);
+#endif
   vtk_hedge_hog->SetVectorModeToUseNormal ();
   vtk_hedge_hog->SetScaleFactor (0.5f*pair_width);
   vtk_hedge_hog->Update ();
diff --git a/tools/obj_rec_ransac_orr_octree.cpp b/tools/obj_rec_ransac_orr_octree.cpp
index 1256f0fc880..a52afb08b18 100644
--- a/tools/obj_rec_ransac_orr_octree.cpp
+++ b/tools/obj_rec_ransac_orr_octree.cpp
@@ -54,6 +54,7 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/recognition/ransac_based/orr_octree.h>
 #include <pcl/visualization/pcl_visualizer.h>
+#include <vtkVersion.h>
 #include <vtkPolyData.h>
 #include <vtkAppendPolyData.h>
 #include <vtkPolyDataReader.h>
@@ -304,7 +305,11 @@ void node_to_cube (ORROctree::Node* node, vtkAppendPolyData* additive_octree)
   cube->SetBounds (b[0], b[1], b[2], b[3], b[4], b[5]);
   cube->Update ();
 
+#if VTK_MAJOR_VERSION < 6
   additive_octree->AddInput (cube->GetOutput ());
+#else
+  additive_octree->AddInputData (cube->GetOutput ());
+#endif
 }
 
 //===============================================================================================================================
@@ -363,7 +368,11 @@ void show_octree (ORROctree* octree, PCLVisualizer& viz, bool show_full_leaves_o
   vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
   vtkSmartPointer<vtkActor> octree_actor = vtkSmartPointer<vtkActor>::New();
   vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
   mapper->SetInput(vtk_octree);
+#else
+  mapper->SetInputData (vtk_octree);
+#endif
   octree_actor->SetMapper(mapper);
 
   // Set the appearance & add to the renderer
diff --git a/tools/obj_rec_ransac_orr_octree_zprojection.cpp b/tools/obj_rec_ransac_orr_octree_zprojection.cpp
index 868d97dea37..1090a38eb92 100644
--- a/tools/obj_rec_ransac_orr_octree_zprojection.cpp
+++ b/tools/obj_rec_ransac_orr_octree_zprojection.cpp
@@ -54,6 +54,7 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/recognition/ransac_based/orr_octree_zprojection.h>
 #include <pcl/visualization/pcl_visualizer.h>
+#include <vtkVersion.h>
 #include <vtkRenderWindow.h>
 #include <vtkPolyData.h>
 #include <vtkAppendPolyData.h>
@@ -206,7 +207,11 @@ void show_octree (ORROctree* octree, PCLVisualizer& viz)
   vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
   vtkSmartPointer<vtkActor> octree_actor = vtkSmartPointer<vtkActor>::New();
   vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
   mapper->SetInput(vtk_octree);
+#else
+  mapper->SetInputData (vtk_octree);
+#endif
   octree_actor->SetMapper(mapper);
 
   // Set the appearance & add to the renderer
@@ -250,9 +255,17 @@ void show_octree_zproj (ORROctreeZProjection* zproj, PCLVisualizer& viz)
   vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
   vtkSmartPointer<vtkActor> upper_actor = vtkSmartPointer<vtkActor>::New(), lower_actor = vtkSmartPointer<vtkActor>::New();
   vtkSmartPointer<vtkDataSetMapper> upper_mapper = vtkSmartPointer<vtkDataSetMapper>::New (), lower_mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
   upper_mapper->SetInput(upper_bound->GetOutput ());
+#else
+  upper_mapper->SetInputData (upper_bound->GetOutput ());
+#endif
   upper_actor->SetMapper(upper_mapper);
+#if VTK_MAJOR_VERSION < 6
   lower_mapper->SetInput(lower_bound->GetOutput ());
+#else
+  lower_mapper->SetInputData (lower_bound->GetOutput ());
+#endif
   lower_actor->SetMapper(lower_mapper);
 
   // Set the appearance & add to the renderer
@@ -272,7 +285,11 @@ void node_to_cube (ORROctree::Node* node, vtkAppendPolyData* additive_octree)
   cube->SetBounds (b[0], b[1], b[2], b[3], b[4], b[5]);
   cube->Update ();
 
+#if VTK_MAJOR_VERSION < 6
   additive_octree->AddInput (cube->GetOutput ());
+#else
+  additive_octree->AddInputData (cube->GetOutput ());
+#endif
 }
 
 //===============================================================================================================================
@@ -284,7 +301,11 @@ void rectangle_to_vtk (float x1, float x2, float y1, float y2, float z, vtkAppen
   cube->SetBounds (x1, x2, y1, y2, z, z);
   cube->Update ();
 
+#if VTK_MAJOR_VERSION < 6
   additive_rectangle->AddInput (cube->GetOutput ());
+#else
+  additive_rectangle->AddInputData (cube->GetOutput ());
+#endif
 }
 
 //===============================================================================================================================
diff --git a/tools/obj_rec_ransac_result.cpp b/tools/obj_rec_ransac_result.cpp
index 4b916282408..b7b7721004c 100644
--- a/tools/obj_rec_ransac_result.cpp
+++ b/tools/obj_rec_ransac_result.cpp
@@ -49,6 +49,7 @@
 #include <pcl/console/parse.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_cloud.h>
+#include <vtkVersion.h>
 #include <vtkPolyDataReader.h>
 #include <vtkDoubleArray.h>
 #include <vtkDataArray.h>
@@ -281,13 +282,21 @@ update (CallbackParameters* params)
     // Setup the transformator
     vtkSmartPointer<vtkTransformPolyDataFilter> vtk_transformator = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
     vtk_transformator->SetTransform (vtk_transform);
+#if VTK_MAJOR_VERSION < 6
     vtk_transformator->SetInput (vtk_model);
+#else
+    vtk_transformator->SetInputData (vtk_model);
+#endif
     vtk_transformator->Update ();
 
     // Visualize
     vtkSmartPointer<vtkActor> vtk_actor = vtkSmartPointer<vtkActor>::New();
     vtkSmartPointer<vtkPolyDataMapper> vtk_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
     vtk_mapper->SetInput(vtk_transformator->GetOutput ());
+#else
+    vtk_mapper->SetInputData (vtk_transformator->GetOutput ());
+#endif
     vtk_actor->SetMapper(vtk_mapper);
     // Set the appearance & add to the renderer
     vtk_actor->GetProperty ()->SetColor (0.6, 0.7, 0.9);
diff --git a/tools/obj_rec_ransac_scene_opps.cpp b/tools/obj_rec_ransac_scene_opps.cpp
index 7330104340c..bb94e8c171c 100644
--- a/tools/obj_rec_ransac_scene_opps.cpp
+++ b/tools/obj_rec_ransac_scene_opps.cpp
@@ -49,6 +49,7 @@
 #include <pcl/console/parse.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_cloud.h>
+#include <vtkVersion.h>
 #include <vtkPolyDataReader.h>
 #include <vtkDoubleArray.h>
 #include <vtkDataArray.h>
@@ -173,7 +174,11 @@ void update (CallbackParameters* params)
   vtkSmartPointer<vtkHedgeHog> vtk_hh = vtkSmartPointer<vtkHedgeHog>::New ();
   vtk_hh->SetVectorModeToUseNormal ();
   vtk_hh->SetScaleFactor (0.5f*params->objrec_.getPairWidth ());
+#if VTK_MAJOR_VERSION < 6
   vtk_hh->SetInput (vtk_opps);
+#else
+  vtk_hh->SetInputData (vtk_opps);
+#endif
   vtk_hh->Update ();
 
   // The lines
diff --git a/tools/octree_viewer.cpp b/tools/octree_viewer.cpp
index 63c1287110d..37d2e98ccf3 100644
--- a/tools/octree_viewer.cpp
+++ b/tools/octree_viewer.cpp
@@ -294,13 +294,21 @@ class OctreeViewer
       double y = displayCloud->points[i].y;
       double z = displayCloud->points[i].z;
 
+#if VTK_MAJOR_VERSION < 6
       treeWireframe->AddInput(GetCuboid(x - s, x + s, y - s, y + s, z - s, z + s));
+#else
+      treeWireframe->AddInputData (GetCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
+#endif
     }
 
     vtkSmartPointer<vtkActor> treeActor = vtkSmartPointer<vtkActor>::New();
 
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION < 6
     mapper->SetInput(treeWireframe->GetOutput());
+#else
+    mapper->SetInputData (treeWireframe->GetOutput ());
+#endif
     treeActor->SetMapper(mapper);
 
     treeActor->GetProperty()->SetColor(1.0, 1.0, 1.0);
diff --git a/tools/ply2vtk.cpp b/tools/ply2vtk.cpp
index fcfb0603241..b61aecfe2b6 100644
--- a/tools/ply2vtk.cpp
+++ b/tools/ply2vtk.cpp
@@ -76,13 +76,17 @@ main (int argc, char** argv)
   vtkSmartPointer<vtkPolyData> polydata;
   vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New ();
   reader->SetFileName (argv[ply_file_indices[0]]);
+  reader->Update ();
   polydata = reader->GetOutput ();
-  polydata->Update ();
   print_info ("Loaded %s with %lu points/vertices.\n", argv[ply_file_indices[0]], polydata->GetNumberOfPoints ());
 
   // Convert to VTK and save
   vtkSmartPointer<vtkPolyDataWriter> writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
   writer->SetInput (polydata);
+#else
+  writer->SetInputData (polydata);
+#endif
   writer->SetFileName (argv[vtk_file_indices[0]]);
   writer->SetFileTypeToBinary ();
   writer->Write ();
diff --git a/tools/png2pcd.cpp b/tools/png2pcd.cpp
index 1d373617123..5d9595998fd 100644
--- a/tools/png2pcd.cpp
+++ b/tools/png2pcd.cpp
@@ -165,8 +165,8 @@ main (int argc, char** argv)
   vtkSmartPointer<vtkImageData> color_image_data;
   vtkSmartPointer<vtkPNGReader> color_reader = vtkSmartPointer<vtkPNGReader>::New ();
   color_reader->SetFileName (argv[png_file_indices[0]]);
+  color_reader->Update ();
   color_image_data = color_reader->GetOutput ();
-  color_image_data->Update ();
 
   int components = color_image_data->GetNumberOfScalarComponents ();
   int dimensions[3];
@@ -183,8 +183,8 @@ main (int argc, char** argv)
   {
     depth_reader = vtkSmartPointer<vtkPNGReader>::New ();
     depth_reader->SetFileName (argv[png_file_indices[1]]);
+    depth_reader->Update ();
     depth_image_data = depth_reader->GetOutput ();
-    depth_image_data->Update ();
 
     if (depth_reader->GetNumberOfScalarComponents () != 1)
     {
diff --git a/tools/tiff2pcd.cpp b/tools/tiff2pcd.cpp
index 58cf1fdd5f0..a22584850f7 100644
--- a/tools/tiff2pcd.cpp
+++ b/tools/tiff2pcd.cpp
@@ -342,8 +342,8 @@ int main(int argc, char ** argv)
     if(ret == 2 || ret == 3)
     {
       reader->SetFileName (tiff_rgb_files[i].c_str());
+      reader->Update ();
       rgb_data = reader->GetOutput ();
-      rgb_data->Update ();
 
       std::string rgb_filename = tiff_rgb_paths[i].filename().string();
       std::string rgb_time = rgb_filename.substr(6,22);
@@ -380,8 +380,8 @@ int main(int argc, char ** argv)
           if(read == 2 || read == 3)
           {
             depth_reader->SetFileName (tiff_depth_files[j].c_str());
+            depth_reader->Update ();
             depth_data = depth_reader->GetOutput ();
-            depth_data->Update ();
 
             processAndSave(depth_data, rgb_data, depth_time, focal_length, format, color, depth, use_output_path, output_path_);
           }
diff --git a/tools/virtual_scanner.cpp b/tools/virtual_scanner.cpp
index 3ff5f2f4a5c..5dfcf797739 100644
--- a/tools/virtual_scanner.cpp
+++ b/tools/virtual_scanner.cpp
@@ -218,10 +218,10 @@ main (int argc, char** argv)
   vtkSmartPointer<vtkLoopSubdivisionFilter> subdivide = vtkSmartPointer<vtkLoopSubdivisionFilter>::New ();
   subdivide->SetNumberOfSubdivisions (subdiv_level);
   subdivide->SetInputConnection (icosa->GetOutputPort ());
+  subdivide->Update ();
 
   // Get camera positions
   vtkPolyData *sphere = subdivide->GetOutput ();
-  sphere->Update ();
   if (!single_view)
     PCL_INFO ("Created %ld camera position points.\n", sphere->GetNumberOfPoints ());
 
diff --git a/tools/voxel_grid_occlusion_estimation.cpp b/tools/voxel_grid_occlusion_estimation.cpp
index 12ebc5e290a..5f03abd79c7 100644
--- a/tools/voxel_grid_occlusion_estimation.cpp
+++ b/tools/voxel_grid_occlusion_estimation.cpp
@@ -99,13 +99,23 @@ getVoxelActors (pcl::PointCloud<pcl::PointXYZ>& voxelCenters,
     double y = voxelCenters.points[i].y;
     double z = voxelCenters.points[i].z;
     
+#if VTK_MAJOR_VERSION < 6
     treeWireframe->AddInput (getCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
+#else
+    treeWireframe->AddInputData (getCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
+#endif
+
   }
 
   vtkSmartPointer < vtkLODActor > treeActor = vtkSmartPointer<vtkLODActor>::New ();
   
   vtkSmartPointer < vtkDataSetMapper > mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
   mapper->SetInput (treeWireframe->GetOutput ());
+#else
+  mapper->SetInputData (treeWireframe->GetOutput ());
+#endif
+
   treeActor->SetMapper (mapper);
   
   treeActor->GetProperty ()->SetRepresentationToWireframe ();
@@ -119,12 +129,20 @@ displayBoundingBox (Eigen::Vector3f& min_b, Eigen::Vector3f& max_b,
                     vtkSmartPointer<vtkActorCollection> coll)
 {
   vtkSmartPointer < vtkAppendPolyData > treeWireframe = vtkSmartPointer<vtkAppendPolyData>::New ();
+#if VTK_MAJOR_VERSION < 6
   treeWireframe->AddInput (getCuboid (min_b[0], max_b[0], min_b[1], max_b[1], min_b[2], max_b[2]));
+#else
+  treeWireframe->AddInputData (getCuboid (min_b[0], max_b[0], min_b[1], max_b[1], min_b[2], max_b[2]));
+#endif
 
   vtkSmartPointer < vtkActor > treeActor = vtkSmartPointer<vtkActor>::New ();
 
   vtkSmartPointer < vtkDataSetMapper > mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
   mapper->SetInput (treeWireframe->GetOutput ());
+#else
+  mapper->SetInputData (treeWireframe->GetOutput ());
+#endif
   treeActor->SetMapper (mapper);
 
   treeActor->GetProperty ()->SetRepresentationToWireframe ();
diff --git a/tools/vtk2pcd.cpp b/tools/vtk2pcd.cpp
index 487542d97bf..298861c6db3 100644
--- a/tools/vtk2pcd.cpp
+++ b/tools/vtk2pcd.cpp
@@ -107,7 +107,11 @@ main (int argc, char** argv)
   if (copy_normals)
   {
     vtkSmartPointer<vtkPolyDataNormals> ng = vtkSmartPointer<vtkPolyDataNormals>::New ();
+#if VTK_MAJOR_VERSION < 6
     ng->SetInput (polydata);
+#else
+    ng->SetInputData (polydata);
+#endif
     ng->ComputePointNormalsOn ();
     ng->ComputeCellNormalsOff ();
     ng->Update ();
diff --git a/tools/vtk2ply.cpp b/tools/vtk2ply.cpp
index 68f5cb691d1..da842e200a7 100644
--- a/tools/vtk2ply.cpp
+++ b/tools/vtk2ply.cpp
@@ -76,13 +76,17 @@ main (int argc, char** argv)
   vtkSmartPointer<vtkPolyData> polydata;
   vtkSmartPointer<vtkPolyDataReader> reader = vtkSmartPointer<vtkPolyDataReader>::New ();
   reader->SetFileName (argv[vtk_file_indices[0]]);
+  reader->Update ();
   polydata = reader->GetOutput ();
-  polydata->Update ();
   print_info ("Loaded %s with %lu points/vertices.\n", argv[vtk_file_indices[0]], polydata->GetNumberOfPoints ());
 
   // Convert to PLY and save
   vtkSmartPointer<vtkPLYWriter> writer = vtkSmartPointer<vtkPLYWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
   writer->SetInput (polydata);
+#else
+  writer->SetInputData (polydata);
+#endif
   writer->SetArrayName ("Colors");
   writer->SetFileTypeToASCII ();
   writer->SetFileName (argv[ply_file_indices[0]]);
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index 65bb3b6ab0e..f9f876a6ab0 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -149,7 +149,7 @@ if(build)
     if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "5.6")
       target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
     else()
-      target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkCharts vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
+      target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree ${VTK_LIBRARIES} ${OPENGL_LIBRARIES})
     endif()
 
     set(EXT_DEPS "")
diff --git a/visualization/include/pcl/visualization/common/impl/shapes.hpp b/visualization/include/pcl/visualization/common/impl/shapes.hpp
index b733f6f06dc..8622eabe662 100644
--- a/visualization/include/pcl/visualization/common/impl/shapes.hpp
+++ b/visualization/include/pcl/visualization/common/impl/shapes.hpp
@@ -67,7 +67,6 @@ pcl::visualization::createPolygon (const typename pcl::PointCloud<PointT>::Const
   poly_grid->Allocate (1, 1);
   poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
   poly_grid->SetPoints (poly_points);
-  poly_grid->Update ();
 
   return (poly_grid);
 }
@@ -104,7 +103,6 @@ pcl::visualization::createPolygon (const pcl::PlanarPolygon<PointT> &planar_poly
   poly_grid->Allocate (1, 1);
   poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
   poly_grid->SetPoints (poly_points);
-  poly_grid->Update ();
 
   return (poly_grid);
 }
diff --git a/visualization/include/pcl/visualization/image_viewer.h b/visualization/include/pcl/visualization/image_viewer.h
index 8d81ebb6385..21b060d6c32 100644
--- a/visualization/include/pcl/visualization/image_viewer.h
+++ b/visualization/include/pcl/visualization/image_viewer.h
@@ -51,6 +51,7 @@
 
 #include <boost/shared_array.hpp>
 
+#include <vtkVersion.h>
 #include <vtkInteractorStyleImage.h>
 
 class vtkImageSlice;
@@ -1012,7 +1013,7 @@ namespace pcl
         /** \brief The renderer. */
         vtkSmartPointer<vtkRenderer> ren_;
 
-#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
+#if !((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
         /** \brief Global prop. This is the actual "actor". */
         vtkSmartPointer<vtkImageSlice> slice_;
 #endif
diff --git a/visualization/include/pcl/visualization/impl/image_viewer.hpp b/visualization/include/pcl/visualization/impl/image_viewer.hpp
index 62b67c16879..5f2ed77f205 100644
--- a/visualization/include/pcl/visualization/impl/image_viewer.hpp
+++ b/visualization/include/pcl/visualization/impl/image_viewer.hpp
@@ -39,6 +39,7 @@
 #ifndef PCL_VISUALIZATION_IMAGE_VISUALIZER_HPP_
 #define	PCL_VISUALIZATION_IMAGE_VISUALIZER_HPP_
 
+#include <vtkVersion.h>
 #include <vtkContextActor.h>
 #include <vtkContextScene.h>
 #include <vtkImageData.h>
@@ -435,9 +436,13 @@ pcl::visualization::ImageViewer::showCorrespondences (
   
   vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
   image->SetDimensions (source_img.width + target_img.width, std::max (source_img.height, target_img.height), 1);
+#if VTK_MAJOR_VERSION < 6
   image->SetScalarTypeToUnsignedChar ();
   image->SetNumberOfScalarComponents (3);
   image->AllocateScalars ();
+#else
+  image->AllocateScalars (VTK_UNSIGNED_CHAR, 3);
+#endif
   image->GetPointData ()->GetScalars ()->SetVoidArray (data, data_size_, 1);
   vtkSmartPointer<PCLContextImageItem> image_item = vtkSmartPointer<PCLContextImageItem>::New ();
 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
diff --git a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
index 560fe6714b3..219e865f5db 100644
--- a/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
+++ b/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
@@ -38,6 +38,7 @@
 #ifndef PCL_PCL_VISUALIZER_IMPL_H_
 #define PCL_PCL_VISUALIZER_IMPL_H_
 
+#include <vtkVersion.h>
 #include <vtkSmartPointer.h>
 #include <vtkCellArray.h>
 #include <vtkLeaderActor2D.h>
@@ -322,13 +323,25 @@ pcl::visualization::PCLVisualizer::addPolygon (
     vtkSmartPointer<vtkAppendPolyData> all_data = vtkSmartPointer<vtkAppendPolyData>::New ();
     
     // Add old data
+#if VTK_MAJOR_VERSION < 6
     all_data->AddInput (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
-   
+#else
+    all_data->AddInputData (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
+#endif
+
     // Add new data
     vtkSmartPointer<vtkDataSetSurfaceFilter> surface_filter = vtkSmartPointer<vtkDataSetSurfaceFilter>::New ();
-    surface_filter->SetInput (vtkUnstructuredGrid::SafeDownCast (data));
+#if VTK_MAJOR_VERSION < 6
+    surface_filter->AddInput (vtkUnstructuredGrid::SafeDownCast (data));
+#else
+    surface_filter->AddInputData (vtkUnstructuredGrid::SafeDownCast (data));
+#endif
     vtkSmartPointer<vtkPolyData> poly_data = surface_filter->GetOutput ();
+#if VTK_MAJOR_VERSION < 6
     all_data->AddInput (poly_data);
+#else
+    all_data->AddInputData (poly_data);
+#endif
 
     // Create an Actor
     vtkSmartPointer<vtkActor> actor;
@@ -376,13 +389,25 @@ pcl::visualization::PCLVisualizer::addPolygon (
     vtkSmartPointer<vtkAppendPolyData> all_data = vtkSmartPointer<vtkAppendPolyData>::New ();
 
     // Add old data
+#if VTK_MAJOR_VERSION < 6
     all_data->AddInput (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
+#else
+    all_data->AddInputData (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
+#endif
 
     // Add new data
     vtkSmartPointer<vtkDataSetSurfaceFilter> surface_filter = vtkSmartPointer<vtkDataSetSurfaceFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
     surface_filter->SetInput (vtkUnstructuredGrid::SafeDownCast (data));
+#else
+    surface_filter->SetInputData (vtkUnstructuredGrid::SafeDownCast (data));
+#endif
     vtkSmartPointer<vtkPolyData> poly_data = surface_filter->GetOutput ();
+#if VTK_MAJOR_VERSION < 6
     all_data->AddInput (poly_data);
+#else
+    all_data->AddInputData (poly_data);
+#endif
 
     // Create an Actor
     vtkSmartPointer<vtkActor> actor;
@@ -613,7 +638,11 @@ pcl::visualization::PCLVisualizer::updateSphere (const PointT &center, double ra
   //////////////////////////////////////////////////////////////////////////
   // Get the actor pointer
   vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
+#if VTK_MAJOR_VERSION < 6
   vtkAlgorithm *algo = actor->GetMapper ()->GetInput ()->GetProducerPort ()->GetProducer ();
+#else
+  vtkAlgorithm *algo = actor->GetMapper ()->GetInputAlgorithm ();
+#endif
   vtkSphereSource *src = vtkSphereSource::SafeDownCast (algo);
 
   src->SetCenter (double (center.x), double (center.y), double (center.z));
@@ -796,7 +825,11 @@ pcl::visualization::PCLVisualizer::addPointCloudNormals (
   polyData->SetLines (lines);
 
   vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
   mapper->SetInput (polyData);
+#else
+  mapper->SetInputData (polyData);
+#endif
   mapper->SetColorModeToMapScalars();
   mapper->SetScalarModeToUsePointData();
 
@@ -871,7 +904,11 @@ pcl::visualization::PCLVisualizer::addPointCloudIntensityGradients (
   polyData->SetLines(lines);
 
   vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
   mapper->SetInput (polyData);
+#else
+  mapper->SetInputData (polyData);
+#endif
   mapper->SetColorModeToMapScalars();
   mapper->SetScalarModeToUsePointData();
 
@@ -970,7 +1007,6 @@ pcl::visualization::PCLVisualizer::addCorrespondences (
   line_data->SetLines (line_cells);
   line_data->GetPointData ()->SetTCoords (line_tcoords);
   line_data->GetCellData ()->SetScalars (line_colors);
-  line_data->Update ();
 
   // Create an Actor
   vtkSmartPointer<vtkLODActor> actor;
@@ -1075,7 +1111,6 @@ pcl::visualization::PCLVisualizer::addCorrespondences (
   line_data->SetLines (line_cells);
   line_data->GetPointData ()->SetTCoords (line_tcoords);
   line_data->GetCellData ()->SetScalars (line_colors);
-  line_data->Update ();
 
   // Create an Actor
   vtkSmartPointer<vtkLODActor> actor;
@@ -1178,10 +1213,13 @@ pcl::visualization::PCLVisualizer::updateCorrespondences (
   line_data->SetLines (line_cells);
   line_data->GetPointData ()->SetTCoords (line_tcoords);
   line_data->GetCellData ()->SetScalars (line_colors);
-  line_data->Update ();
 
   // Update the mapper
+#if VTK_MAJOR_VERSION < 6
   reinterpret_cast<vtkPolyDataMapper*>(actor->GetMapper ())->SetInput (line_data);
+#else
+  reinterpret_cast<vtkPolyDataMapper*> (actor->GetMapper ())->SetInputData (line_data);
+#endif
 
   return (true);
 }
@@ -1213,7 +1251,6 @@ pcl::visualization::PCLVisualizer::fromHandlersToScreen (
   // Convert the PointCloud to VTK PolyData
   convertPointCloudToVTKPolyData<PointT> (geometry_handler, polydata, initcells);
   // use the given geometry handler
-  polydata->Update ();
 
   // Get the colors from the handler
   bool has_colors = false;
@@ -1277,7 +1314,6 @@ pcl::visualization::PCLVisualizer::fromHandlersToScreen (
   // Convert the PointCloud to VTK PolyData
   convertPointCloudToVTKPolyData<PointT> (geometry_handler, polydata, initcells);
   // use the given geometry handler
-  polydata->Update ();
 
   // Get the colors from the handler
   bool has_colors = false;
@@ -1342,7 +1378,6 @@ pcl::visualization::PCLVisualizer::fromHandlersToScreen (
   // Convert the PointCloud to VTK PolyData
   convertPointCloudToVTKPolyData (geometry_handler, polydata, initcells);
   // use the given geometry handler
-  polydata->Update ();
 
   // Get the colors from the handler
   bool has_colors = false;
@@ -1394,12 +1429,10 @@ pcl::visualization::PCLVisualizer::updatePointCloud (const typename pcl::PointCl
   vtkSmartPointer<vtkPolyData> polydata = reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->GetInput ();
   // Convert the PointCloud to VTK PolyData
   convertPointCloudToVTKPolyData<PointT> (cloud, polydata, am_it->second.cells);
-  polydata->Update ();
 
   // Set scalars to blank, since there is no way we can update them here.
   vtkSmartPointer<vtkDataArray> scalars;
   polydata->GetPointData ()->SetScalars (scalars);
-  polydata->Update ();
   double minmax[2];
   minmax[0] = std::numeric_limits<double>::min ();
   minmax[1] = std::numeric_limits<double>::max ();
@@ -1407,7 +1440,11 @@ pcl::visualization::PCLVisualizer::updatePointCloud (const typename pcl::PointCl
   am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
 
   // Update the mapper
+#if VTK_MAJOR_VERSION < 6
   reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
+#else
+  reinterpret_cast<vtkPolyDataMapper*> (am_it->second.actor->GetMapper ())->SetInputData (polydata);
+#endif
   return (true);
 }
 
@@ -1432,7 +1469,6 @@ pcl::visualization::PCLVisualizer::updatePointCloud (const typename pcl::PointCl
   // Set scalars to blank, since there is no way we can update them here.
   vtkSmartPointer<vtkDataArray> scalars;
   polydata->GetPointData ()->SetScalars (scalars);
-  polydata->Update ();
   double minmax[2];
   minmax[0] = std::numeric_limits<double>::min ();
   minmax[1] = std::numeric_limits<double>::max ();
@@ -1440,7 +1476,11 @@ pcl::visualization::PCLVisualizer::updatePointCloud (const typename pcl::PointCl
   am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
 
   // Update the mapper
+#if VTK_MAJOR_VERSION < 6
   reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
+#else
+  reinterpret_cast<vtkPolyDataMapper*> (am_it->second.actor->GetMapper ())->SetInputData (polydata);
+#endif
   return (true);
 }
 
@@ -1507,13 +1547,16 @@ pcl::visualization::PCLVisualizer::updatePointCloud (const typename pcl::PointCl
   scalars->GetRange (minmax);
   // Update the data
   polydata->GetPointData ()->SetScalars (scalars);
-  polydata->Update ();
 
   am_it->second.actor->GetMapper ()->ImmediateModeRenderingOff ();
   am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
 
   // Update the mapper
+#if VTK_MAJOR_VERSION < 6
   reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
+#else
+  reinterpret_cast<vtkPolyDataMapper*> (am_it->second.actor->GetMapper ())->SetInputData (polydata);
+#endif
   return (true);
 }
 
@@ -1668,7 +1711,6 @@ pcl::visualization::PCLVisualizer::addPolygonMesh (
     poly_grid->Allocate (1, 1);
     poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
     poly_grid->SetPoints (points);
-    poly_grid->Update ();
     if (colors)
       poly_grid->GetPointData ()->SetScalars (colors);
 
@@ -1813,7 +1855,6 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh (
   cells->Squeeze ();
   // Set the the vertices
   polydata->SetPolys (cells);
-  polydata->Update ();
 
   return (true);
 }
diff --git a/visualization/include/pcl/visualization/interactor.h b/visualization/include/pcl/visualization/interactor.h
index 676b7502680..64a49523ced 100644
--- a/visualization/include/pcl/visualization/interactor.h
+++ b/visualization/include/pcl/visualization/interactor.h
@@ -45,10 +45,10 @@
 #  include <vtkWin32RenderWindowInteractor.h>
 #else
 #include <vtkConfigure.h>
-#if defined VTK_USE_CARBON
-#  include <vtkCarbonRenderWindowInteractor.h>
-#elif defined VTK_USE_COCOA
+#if (VTK_MAJOR_VERSION <= 5 && defined VTK_USE_COCOA) || defined __APPLE__
 #  include <vtkCocoaRenderWindowInteractor.h>
+#elif VTK_MAJOR_VERSION <= 5 && defined VTK_USE_CARBON
+#  include <vtkCarbonRenderWindowInteractor.h>
 #else
 // Stupid X.h defines Complex, Bool, Success globally (!)
 #  include <vtkXRenderWindowInteractor.h>
@@ -66,10 +66,10 @@ namespace pcl
     /** \brief The PCLVisualizer interactor */
 #ifdef _WIN32
     class PCL_EXPORTS PCLVisualizerInteractor : public vtkWin32RenderWindowInteractor
-#elif defined VTK_USE_CARBON
-    class PCLVisualizerInteractor : public vtkCarbonRenderWindowInteractor
-#elif defined VTK_USE_COCOA
+#elif (VTK_MAJOR_VERSION <= 5 && defined VTK_USE_COCOA) || defined __APPLE__
     class PCLVisualizerInteractor : public vtkCocoaRenderWindowInteractor
+#elif VTK_MAJOR_VERSION <= 5 && defined VTK_USE_CARBON
+    class PCLVisualizerInteractor : public vtkCarbonRenderWindowInteractor
 #else
     class PCLVisualizerInteractor : public vtkXRenderWindowInteractor
 #endif
diff --git a/visualization/include/pcl/visualization/pcl_painter2D.h b/visualization/include/pcl/visualization/pcl_painter2D.h
index 6752aa90049..acafad4811f 100644
--- a/visualization/include/pcl/visualization/pcl_painter2D.h
+++ b/visualization/include/pcl/visualization/pcl_painter2D.h
@@ -204,7 +204,7 @@ namespace pcl
       /** \brief Constructor of the class
        */
       PCLPainter2D (char const * name = "PCLPainter2D");
-      vtkTypeRevisionMacro (PCLPainter2D, vtkContextItem);
+      vtkTypeMacro (PCLPainter2D, vtkContextItem);
 
       /** \brief Paint event for the chart, called whenever the chart needs to be drawn
        *  \param[in] painter Name of the window
diff --git a/visualization/src/common/io.cpp b/visualization/src/common/io.cpp
index 5f1cf6d867a..6339a127725 100644
--- a/visualization/src/common/io.cpp
+++ b/visualization/src/common/io.cpp
@@ -36,6 +36,7 @@
  *
  */
 
+#include <vtkVersion.h>
 #include <vtkPolyData.h>
 #include <vtkCleanPolyData.h>
 #include <vtkSmartPointer.h>
@@ -89,7 +90,11 @@ pcl::visualization::savePointData (vtkPolyData* data, const std::string &out_fil
   // Clean the data (no duplicates!)
   vtkSmartPointer<vtkCleanPolyData> cleaner = vtkSmartPointer<vtkCleanPolyData>::New ();
   cleaner->SetTolerance (0.0);
+#if VTK_MAJOR_VERSION < 6
   cleaner->SetInput (data);
+#else
+  cleaner->SetInputData (data);
+#endif
   cleaner->ConvertLinesToPointsOff ();
   cleaner->ConvertPolysToLinesOff ();
   cleaner->ConvertStripsToPolysOff ();
diff --git a/visualization/src/histogram_visualizer.cpp b/visualization/src/histogram_visualizer.cpp
index 777a3954cf2..94f4cc7a6be 100644
--- a/visualization/src/histogram_visualizer.cpp
+++ b/visualization/src/histogram_visualizer.cpp
@@ -46,6 +46,7 @@
 #include <pcl/visualization/histogram_visualizer.h>
 #include <pcl/visualization/boost.h>
 
+#include <vtkVersion.h>
 #include <vtkXYPlotActor.h>
 #include <vtkDoubleArray.h>
 #include <vtkTextProperty.h>
@@ -260,7 +261,12 @@ pcl::visualization::PCLHistogramVisualizer::reCreateActor (
     const vtkSmartPointer<vtkDoubleArray> &xy_array, RenWinInteract* renwinupd, const int hsize)
 {
   renwinupd->ren_->RemoveActor2D (renwinupd->xy_plot_);
+#if VTK_MAJOR_VERSION < 6
   renwinupd->xy_plot_->RemoveAllInputs ();
+#else
+  renwinupd->xy_plot_->RemoveAllDataSetInputConnections ();
+#endif
+
   
   double min_max[2];
   xy_array->GetRange (min_max, 1);
diff --git a/visualization/src/image_viewer.cpp b/visualization/src/image_viewer.cpp
index 38651bdcb81..760b5161651 100644
--- a/visualization/src/image_viewer.cpp
+++ b/visualization/src/image_viewer.cpp
@@ -36,11 +36,17 @@
  *
  */
 
+#include <vtkVersion.h>
 #include <vtkImageViewer.h>
 #include <vtkCallbackCommand.h>
 #include <vtkRenderer.h>
 #include <vtkCamera.h>
 
+#if VTK_MAJOR_VERSION >= 6
+#include <vtkImageSlice.h>
+#include <vtkImageSliceMapper.h>
+#endif
+
 #include <pcl/visualization/image_viewer.h>
 #include <pcl/visualization/common/float_image_utils.h>
 #include <pcl/visualization/keyboard_event.h>
@@ -117,7 +123,11 @@ pcl::visualization::ImageViewer::ImageViewer (const std::string& window_title)
 
   vtkSmartPointer<vtkImageData> empty_image = vtkSmartPointer<vtkImageData>::New ();
   vtkSmartPointer<vtkImageSliceMapper> map = vtkSmartPointer<vtkImageSliceMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
   map->SetInput (empty_image);
+#else
+  map->SetInputData (empty_image);
+#endif
   slice_->SetMapper (map);
   ren_->AddViewProp (slice_);
   interactor_->SetInteractorStyle (interactor_style_);
@@ -180,9 +190,13 @@ pcl::visualization::ImageViewer::addRGBImage (
 
   vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
   image->SetExtent (0, width - 1, 0, height - 1, 0, 0);
+#if VTK_MAJOR_VERSION < 6
   image->SetScalarTypeToUnsignedChar ();
   image->SetNumberOfScalarComponents (3);
   image->AllocateScalars ();
+#else
+  image->AllocateScalars (VTK_UNSIGNED_CHAR, 3);
+#endif
   image->GetPointData ()->GetScalars ()->SetVoidArray (data, 3 * width * height, 1);
 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
   // Now create filter and set previously created transformation
@@ -193,9 +207,12 @@ pcl::visualization::ImageViewer::addRGBImage (
 #  else
     image_viewer_->SetInputConnection (algo_->GetOutputPort ());
 #  endif
-#else
+#elif VTK_MAJOR_VERSION < 6
   image_viewer_->SetInputData (image);
   interactor_style_->adjustCamera (image, ren_);
+#else
+  algo_->SetInputData (image);
+  algo_->Update ();
 #endif
 }
 
@@ -231,9 +248,13 @@ pcl::visualization::ImageViewer::addMonoImage (
 
   vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
   image->SetExtent (0, width - 1, 0, height - 1, 0, 0);
+#if VTK_MAJOR_VERSION < 6
   image->SetScalarTypeToUnsignedChar ();
   image->SetNumberOfScalarComponents (1);
   image->AllocateScalars ();
+#else
+  image->AllocateScalars (VTK_UNSIGNED_CHAR, 1);
+#endif
   image->GetPointData ()->GetScalars ()->SetVoidArray (data, width * height, 1);
 
 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
@@ -245,9 +266,12 @@ pcl::visualization::ImageViewer::addMonoImage (
 #  else
     image_viewer_->SetInputConnection (algo_->GetOutputPort ());
 #  endif
-#else
+#elif VTK_MAJOR_VERSION < 6
   image_viewer_->SetInputData (image);
   interactor_style_->adjustCamera (image, ren_);
+#else
+  algo_->SetInputData (image);
+  algo_->Update ();
 #endif
 }
 
@@ -598,7 +622,11 @@ pcl::visualization::ImageViewer::createLayer (
     rect->set (0, 0, static_cast<float> (width), static_cast<float> (height));
     l.actor->GetScene ()->AddItem (rect);
   }
+#if VTK_MAJOR_VERSION < 6
   image_viewer_->GetRenderer ()->AddActor (l.actor);
+#else
+  ren_->AddActor (l.actor);
+#endif
   // Add another element
   layer_map_.push_back (l);
 
@@ -634,7 +662,11 @@ pcl::visualization::ImageViewer::removeLayer (const std::string &layer_id)
     PCL_DEBUG ("[pcl::visualization::ImageViewer::removeLayer] No layer with ID='%s' found.\n", layer_id.c_str ());
     return;
   }
+#if VTK_MAJOR_VERSION < 6
   image_viewer_->GetRenderer ()->RemoveActor (am_it->actor);
+#else
+  ren_->RemoveActor (am_it->actor);
+#endif
   layer_map_.erase (am_it);
 }
 
@@ -1139,9 +1171,9 @@ void
 pcl::visualization::ImageViewer::setWindowTitle (const std::string& name)
 {
 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
-  win_->SetWindowName (name.c_str ());
-#else
   image_viewer_->GetRenderWindow ()->SetWindowName (name.c_str ());
+#else
+  win_->SetWindowName (name.c_str ());
 #endif
 }
 
@@ -1150,9 +1182,9 @@ void
 pcl::visualization::ImageViewer::setPosition (int x, int y)
 {
 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
-  win_->SetPosition (x, y);
-#else
   image_viewer_->GetRenderWindow ()->SetPosition (x, y);
+#else
+  win_->SetPosition (x, y);
 #endif
 }
 
@@ -1161,9 +1193,9 @@ int*
 pcl::visualization::ImageViewer::getSize ()
 {
 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
-  return (win_->GetSize ());
-#else
   return (image_viewer_->GetRenderWindow ()->GetSize ());
+#else
+  return (win_->GetSize ());
 #endif
 }
 
@@ -1172,9 +1204,10 @@ void
 pcl::visualization::ImageViewer::setSize (int xw, int yw)
 {
 #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
-  win_->SetSize (xw, yw);
-#else
   image_viewer_->GetRenderWindow ()->SetSize (xw, yw);
+#else
+  win_->SetSize (xw, yw);
+
 #endif
 }
 
diff --git a/visualization/src/interactor_style.cpp b/visualization/src/interactor_style.cpp
index 24855a7e16e..ad2fe197a54 100644
--- a/visualization/src/interactor_style.cpp
+++ b/visualization/src/interactor_style.cpp
@@ -39,6 +39,7 @@
 #include <list>
 #include <pcl/visualization/common/io.h>
 #include <pcl/visualization/interactor_style.h>
+#include <vtkVersion.h>
 #include <vtkLODActor.h>
 #include <vtkPolyData.h>
 #include <vtkPolyDataMapper.h>
@@ -357,7 +358,11 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
         else
         {
           vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
+#if VTK_MAJOR_VERSION < 6
           mapper->SetInput (data);
+#else
+          mapper->SetInputData (data);
+#endif
           // Modify the actor
           act->actor->SetMapper (mapper);
         }
@@ -386,7 +391,6 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
         // Update the data
         vtkPolyData *data = static_cast<vtkPolyData*>(act->actor->GetMapper ()->GetInput ());
         data->GetPointData ()->SetScalars (scalars);
-        data->Update ();
         // Modify the mapper
         if (use_vbos_)
         {
@@ -402,7 +406,11 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
           vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
           mapper->SetScalarRange (minmax);
           mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
           mapper->SetInput (data);
+#else
+          mapper->SetInputData (data);
+#endif
           // Modify the actor
           act->actor->SetMapper (mapper);
         }
diff --git a/visualization/src/pcl_painter2D.cpp b/visualization/src/pcl_painter2D.cpp
index 868931db869..4d47290d84b 100644
--- a/visualization/src/pcl_painter2D.cpp
+++ b/visualization/src/pcl_painter2D.cpp
@@ -38,8 +38,6 @@
 
 #include <pcl/visualization/pcl_painter2D.h>
 
-vtkCxxRevisionMacro (pcl::visualization::PCLPainter2D, "$Revision: 1.2 $");
-
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 pcl::visualization::PCLPainter2D::PCLPainter2D(char const * name)
 {
diff --git a/visualization/src/pcl_plotter.cpp b/visualization/src/pcl_plotter.cpp
index 52323e2c1f1..92e4f5e35c5 100644
--- a/visualization/src/pcl_plotter.cpp
+++ b/visualization/src/pcl_plotter.cpp
@@ -36,6 +36,7 @@
  *
  */
 
+#include <vtkVersion.h>
 #include <vtkSmartPointer.h>
 #include <vtkRenderWindowInteractor.h>
 #include <vtkRenderWindow.h>
@@ -123,7 +124,11 @@ pcl::visualization::PCLPlotter::addPlotData (
   //adding to chart
   //vtkPlot *line = chart_->AddPlot(vtkChart::LINE);
   vtkPlot *line = chart_->AddPlot (type);
+#if VTK_MAJOR_VERSION < 6
   line->SetInput (table, 0, 1);
+#else
+  line->SetInputData (table, 0, 1);
+#endif
   line->SetWidth (1);
 
   if (color == NULL)    //color automatically based on the ColorScheme
diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index 742649ca1e2..02a9c9a84f4 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -38,6 +38,7 @@
 
 #include <pcl/visualization/common/common.h>
 #include <pcl/conversions.h>
+#include <vtkVersion.h>
 #include <vtkTextActor.h>
 #include <vtkTextProperty.h>
 #include <vtkCellData.h>
@@ -535,6 +536,7 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const std:
   vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
   axes->SetOrigin (0, 0, 0);
   axes->SetScaleFactor (scale);
+  axes->Update ();
 
   vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
   axes_colors->Allocate (6);
@@ -546,17 +548,24 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const std:
   axes_colors->InsertNextValue (1.0);
 
   vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
-  axes_data->Update ();
   axes_data->GetPointData ()->SetScalars (axes_colors);
 
   vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
   axes_tubes->SetInput (axes_data);
+#else
+  axes_tubes->SetInputData (axes_data);
+#endif
   axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
   axes_tubes->SetNumberOfSides (6);
 
   vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
   axes_mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
   axes_mapper->SetInput (axes_tubes->GetOutput ());
+#else
+  axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
+#endif
 
   vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
   axes_actor->SetMapper (axes_mapper);
@@ -574,6 +583,7 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, f
   vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
   axes->SetOrigin (0, 0, 0);
   axes->SetScaleFactor (scale);
+  axes->Update ();
 
   vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
   axes_colors->Allocate (6);
@@ -585,17 +595,24 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, f
   axes_colors->InsertNextValue (1.0);
 
   vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
-  axes_data->Update ();
   axes_data->GetPointData ()->SetScalars (axes_colors);
 
   vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
   axes_tubes->SetInput (axes_data);
+#else
+  axes_tubes->SetInputData (axes_data);
+#endif
   axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
   axes_tubes->SetNumberOfSides (6);
 
   vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
   axes_mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
   axes_mapper->SetInput (axes_tubes->GetOutput ());
+#else
+  axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
+#endif
 
   vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
   axes_actor->SetMapper (axes_mapper);
@@ -644,6 +661,7 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const Eige
   vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
   axes->SetOrigin (0, 0, 0);
   axes->SetScaleFactor (scale);
+  axes->Update ();
 
   vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
   axes_colors->Allocate (6);
@@ -655,17 +673,24 @@ pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const Eige
   axes_colors->InsertNextValue (1.0);
 
   vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
-  axes_data->Update ();
   axes_data->GetPointData ()->SetScalars (axes_colors);
 
   vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
   axes_tubes->SetInput (axes_data);
+#else
+  axes_tubes->SetInputData (axes_data);
+#endif
   axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
   axes_tubes->SetNumberOfSides (6);
 
   vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
   axes_mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
   axes_mapper->SetInput (axes_tubes->GetOutput ());
+#else
+  axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
+#endif
 
   vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
   axes_actor->SetMapper (axes_mapper);
@@ -873,7 +898,11 @@ pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures (const pcl::
     line_1->SetPoint1 (cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
     line_1->SetPoint2 (p.x, p.y, p.z);
     line_1->Update ();
+#if VTK_MAJOR_VERSION < 6
     polydata_1->AddInput (line_1->GetOutput ());
+#else
+    polydata_1->AddInputData (line_1->GetOutput ());
+#endif
     line_1_colors->InsertNextTupleValue (green);
   }
   polydata_1->Update ();
@@ -900,7 +929,12 @@ pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures (const pcl::
     line_2->SetPoint1 (cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
     line_2->SetPoint2 (p.x, p.y, p.z);
     line_2->Update ();
+#if VTK_MAJOR_VERSION < 6
     polydata_2->AddInput (line_2->GetOutput ());
+#else
+    polydata_2->AddInputData (line_2->GetOutput ());
+#endif
+
     line_2_colors->InsertNextTupleValue (blue);
   }
   polydata_2->Update ();
@@ -909,8 +943,13 @@ pcl::visualization::PCLVisualizer::addPointCloudPrincipalCurvatures (const pcl::
 
   // Assemble the two sets of lines
   vtkSmartPointer<vtkAppendPolyData> alldata = vtkSmartPointer<vtkAppendPolyData>::New ();
+#if VTK_MAJOR_VERSION < 6
   alldata->AddInput (line_1_data);
   alldata->AddInput (line_2_data);
+#else
+  alldata->AddInputData (line_1_data);
+  alldata->AddInputData (line_2_data);
+#endif
 
   // Create an Actor
   vtkSmartPointer<vtkLODActor> actor;
@@ -1124,7 +1163,11 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
   else
   {
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
     mapper->SetInput (data);
+#else
+    mapper->SetInputData (data);
+#endif
 
     if (use_scalars)
     {
@@ -1198,7 +1241,11 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
   else
   {
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
     mapper->SetInput (data);
+#else
+    mapper->SetInputData (data);
+#endif
 
     if (use_scalars)
     {
@@ -1576,9 +1623,13 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
           {
             PCL_INFO ("[pcl::visualization::PCLVisualizer::setShapeRenderingProperties] Normals do not exist in the dataset, but Gouraud shading was requested. Estimating normals...\n");
             vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
+#if VTK_MAJOR_VERSION < 6
             normals->SetInput (actor->GetMapper ()->GetInput ());
-            normals->Update ();
             vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
+#else
+            normals->SetInputConnection (actor->GetMapper ()->GetInputAlgorithm ()->GetOutputPort ());
+            vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInputConnection (normals->GetOutputPort ());
+#endif
           }
           actor->GetProperty ()->SetInterpolationToGouraud ();
           break;
@@ -1589,9 +1640,13 @@ pcl::visualization::PCLVisualizer::setShapeRenderingProperties (
           {
             PCL_INFO ("[pcl::visualization::PCLVisualizer::setShapeRenderingProperties] Normals do not exist in the dataset, but Phong shading was requested. Estimating normals...\n");
             vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
+#if VTK_MAJOR_VERSION < 6
             normals->SetInput (actor->GetMapper ()->GetInput ());
-            normals->Update ();
             vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
+#else
+            normals->SetInputConnection (actor->GetMapper ()->GetInputAlgorithm ()->GetOutputPort ());
+            vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInputConnection (normals->GetOutputPort ());
+#endif
           }
           actor->GetProperty ()->SetInterpolationToPhong ();
           break;
@@ -2329,7 +2384,11 @@ pcl::visualization::PCLVisualizer::addModelFromPolyData (
 
   vtkSmartPointer <vtkTransformFilter> trans_filter = vtkSmartPointer<vtkTransformFilter>::New ();
   trans_filter->SetTransform (transform);
+#if VTK_MAJOR_VERSION < 6
   trans_filter->SetInput (polydata);
+#else
+  trans_filter->SetInputData (polydata);
+#endif
   trans_filter->Update();
 
   // Create an Actor
@@ -2803,7 +2862,6 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
   // Update the data
   vtkPolyData *data = static_cast<vtkPolyData*>(am_it->second.actor->GetMapper ()->GetInput ());
   data->GetPointData ()->SetScalars (scalars);
-  data->Update ();
   // Modify the mapper
   if (use_vbos_)
   {
@@ -2823,7 +2881,11 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
     vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ());
     mapper->SetScalarRange (minmax);
     mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
     mapper->SetInput (data);
+#else
+    mapper->SetInputData (data);
+#endif
     // Modify the actor
     am_it->second.actor->SetMapper (mapper);
     am_it->second.actor->Modified ();
@@ -2928,7 +2990,6 @@ pcl::visualization::PCLVisualizer::addPolygonMesh (const pcl::PolygonMesh &poly_
     poly_grid->Allocate (1, 1);
     poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
     poly_grid->SetPoints (poly_points);
-    poly_grid->Update ();
 
     createActorFromVTKDataSet (poly_grid, actor);
     actor->GetProperty ()->SetRepresentationToWireframe ();
@@ -3053,7 +3114,6 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh (
   cells->Squeeze ();
   // Set the the vertices
   polydata->SetStrips (cells);
-  polydata->Update ();
 
   return (true);
 }
@@ -3108,7 +3168,11 @@ pcl::visualization::PCLVisualizer::addPolylineFromPolygonMesh (
 
   // Setup actor and mapper
   vtkSmartPointer < vtkPolyDataMapper > mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
   mapper->SetInput (polyData);
+#else
+  mapper->SetInputData (polyData);
+#endif
 
   vtkSmartPointer < vtkActor > actor = vtkSmartPointer<vtkActor>::New ();
   actor->SetMapper (mapper);
@@ -3244,7 +3308,11 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
     polydata->GetPointData()->SetScalars(colors);
 
   vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
-  mapper->SetInput (polydata);
+#if VTK_MAJOR_VERSION < 6
+    mapper->SetInput (polydata);
+#else
+    mapper->SetInputData (polydata);
+#endif
 
   vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
   vtkOpenGLHardwareSupport* hardware = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetHardwareSupport ();
@@ -3466,7 +3534,11 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere (
 
   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 ();
@@ -3518,10 +3590,10 @@ pcl::visualization::PCLVisualizer::renderViewTesselatedSphere (
   vtkSmartPointer<vtkLoopSubdivisionFilter> subdivide = vtkSmartPointer<vtkLoopSubdivisionFilter>::New ();
   subdivide->SetNumberOfSubdivisions (tesselation_level);
   subdivide->SetInputConnection (ico->GetOutputPort ());
+  subdivide->Update ();
 
   // Get camera positions
   vtkPolyData *sphere = subdivide->GetOutput ();
-  sphere->Update ();
 
   std::vector<Eigen::Vector3f> cam_positions;
   if (!use_vertices)
@@ -3960,7 +4032,6 @@ pcl::visualization::PCLVisualizer::fromHandlersToScreen (
   // Convert the PointCloud to VTK PolyData
   convertPointCloudToVTKPolyData (geometry_handler, polydata, initcells);
   // use the given geometry handler
-  polydata->Update ();
 
   // 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 6d6df965cf4..475ea0fbbd1 100644
--- a/visualization/src/point_picking_event.cpp
+++ b/visualization/src/point_picking_event.cpp
@@ -38,6 +38,7 @@
 
 #include <pcl/visualization/point_picking_event.h>
 #include <pcl/visualization/interactor_style.h>
+#include <vtkVersion.h>
 #include <vtkPointPicker.h>
 #include <vtkAreaPicker.h>
 #include <vtkRenderWindowInteractor.h>
@@ -192,7 +193,7 @@ pcl::visualization::PointPickingCallback::performAreaPick (vtkRenderWindowIntera
     vtkSmartPointer<vtkExtractGeometry> extract_geometry = vtkSmartPointer<vtkExtractGeometry>::New ();
     extract_geometry->SetImplicitFunction (frustum);
 
-#if VTK_MAJOR_VERSION <= 5
+#if VTK_MAJOR_VERSION < 6
     extract_geometry->SetInput (picker->GetDataSet ());
 #else
     extract_geometry->SetInputData (picker->GetDataSet ());
diff --git a/visualization/src/vtk/vtkVertexBufferObject.cxx b/visualization/src/vtk/vtkVertexBufferObject.cxx
index 9a4c9b0059a..3209f2e122f 100644
--- a/visualization/src/vtk/vtkVertexBufferObject.cxx
+++ b/visualization/src/vtk/vtkVertexBufferObject.cxx
@@ -276,7 +276,6 @@ void vtkVertexBufferObject::CreateBuffer()
     {
     GLuint ioBuf;
     vtkgl::GenBuffers(1, &ioBuf);
-    vtkGraphicErrorMacro(this->Context, "after GenBuffers");
     this->Handle = ioBuf;
     }
 }
diff --git a/visualization/src/vtk/vtkVertexBufferObjectMapper.cxx b/visualization/src/vtk/vtkVertexBufferObjectMapper.cxx
index 876b5e8c9c3..af3a7d30b59 100644
--- a/visualization/src/vtk/vtkVertexBufferObjectMapper.cxx
+++ b/visualization/src/vtk/vtkVertexBufferObjectMapper.cxx
@@ -18,6 +18,7 @@
 #include "pcl/visualization/vtk/vtkVertexBufferObject.h"
 #include "pcl/visualization/vtk/vtkVertexBufferObjectMapper.h"
 
+#include "vtkVersion.h"
 #include "vtkCellData.h"
 #include "vtkExecutive.h"
 #include "vtkInformation.h"
@@ -146,7 +147,11 @@ void vtkVertexBufferObjectMapper::SetInput(vtkPolyData *input)
 //  std::cout << "SetInput" << endl;
   if(input)
   {
+#if VTK_MAJOR_VERSION < 6
     this->SetInputConnection(0, input->GetProducerPort());
+#else
+    this->SetInputDataObject (0, input);
+#endif
   }
   else
   {
@@ -162,7 +167,11 @@ void vtkVertexBufferObjectMapper::SetInput(vtkDataSet *input)
 //  std::cout << "SetInput" << endl;
   if(input)
   {
+#if VTK_MAJOR_VERSION < 6
     this->SetInputConnection(0, input->GetProducerPort());
+#else
+    this->SetInputDataObject (0, input);
+#endif
   }
   else
   {