From 88f5e5b01138eef5c2b736043967f36e18fb5242 Mon Sep 17 00:00:00 2001
From: green_machine <personal@brettmichaelgreen.com>
Date: Sun, 11 Nov 2018 10:07:50 -0500
Subject: [PATCH 1/3] address vtk 8.2 dev head issue with vtk/rendering/core
 introduced by
 https://github.com/Kitware/VTK/commit/bbc96ed3bb95dde45f5fd4e7f932929fe5c667bd

---
 visualization/src/pcl_visualizer.cpp | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index afdddb35513..b4f63f972d7 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -3528,12 +3528,7 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
   std::size_t tex_id = 0;
   while (tex_id < last_tex_id)
   {
-#if VTK_MAJOR_VERSION < 9
     int tu = vtkProperty::VTK_TEXTURE_UNIT_0 + tex_id;
-#else
-    const char *tu = mesh.tex_materials[tex_id].tex_name.c_str ();
-#endif
-
     vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New ();
     if (textureFromTexMaterial (mesh.tex_materials[tex_id], texture))
     {
@@ -3561,10 +3556,16 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
       else
         for (std::size_t tc = 0; tc < mesh.tex_coordinates[t].size (); ++tc)
           coordinates->InsertNextTuple2 (-1.0, -1.0);
-
+#if VTK_MAJOR_VERSION >= 8 && VTK_MINOR_VERSION >= 2
+    mapper->MapDataArrayToMultiTextureAttribute(mesh.tex_materials[tex_id].tex_name.c_str(),
+      this_coordinates_name.c_str(),
+      vtkDataObject::FIELD_ASSOCIATION_POINTS);
+#else
     mapper->MapDataArrayToMultiTextureAttribute(tu,
-                                                this_coordinates_name.c_str (),
-                                                vtkDataObject::FIELD_ASSOCIATION_POINTS);
+      this_coordinates_name.c_str(),
+      vtkDataObject::FIELD_ASSOCIATION_POINTS);
+#endif
+    
     polydata->GetPointData ()->AddArray (coordinates);
     actor->GetProperty ()->SetTexture (tu, texture);
     ++tex_id;

From 8687c7cf7334602b07c741597dcf9c412e18cd4b Mon Sep 17 00:00:00 2001
From: green_machine <personal@brettmichaelgreen.com>
Date: Mon, 19 Nov 2018 19:13:07 -0500
Subject: [PATCH 2/3] better define for VTK behavior

---
 visualization/src/pcl_visualizer.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index b4f63f972d7..0f17513a4f3 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -3556,7 +3556,7 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
       else
         for (std::size_t tc = 0; tc < mesh.tex_coordinates[t].size (); ++tc)
           coordinates->InsertNextTuple2 (-1.0, -1.0);
-#if VTK_MAJOR_VERSION >= 8 && VTK_MINOR_VERSION >= 2
+#if (VTK_MAJOR_VERSION == 8 && VTK_MINOR_VERSION >= 2) || VTK_MAJOR_VERSION > 8
     mapper->MapDataArrayToMultiTextureAttribute(mesh.tex_materials[tex_id].tex_name.c_str(),
       this_coordinates_name.c_str(),
       vtkDataObject::FIELD_ASSOCIATION_POINTS);

From ddf45e5e20e5ba5d09198dd2958991918c0d6903 Mon Sep 17 00:00:00 2001
From: green_machine <personal@brettmichaelgreen.com>
Date: Tue, 20 Nov 2018 08:53:49 -0500
Subject: [PATCH 3/3] move define VTK version switch to original location

---
 visualization/src/pcl_visualizer.cpp | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index 0f17513a4f3..a0b881e9b4d 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -3528,7 +3528,11 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
   std::size_t tex_id = 0;
   while (tex_id < last_tex_id)
   {
+#if (VTK_MAJOR_VERSION == 8 && VTK_MINOR_VERSION >= 2) || VTK_MAJOR_VERSION > 8
+    const char *tu = mesh.tex_materials[tex_id].tex_name.c_str();
+#else
     int tu = vtkProperty::VTK_TEXTURE_UNIT_0 + tex_id;
+#endif
     vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New ();
     if (textureFromTexMaterial (mesh.tex_materials[tex_id], texture))
     {
@@ -3556,15 +3560,9 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
       else
         for (std::size_t tc = 0; tc < mesh.tex_coordinates[t].size (); ++tc)
           coordinates->InsertNextTuple2 (-1.0, -1.0);
-#if (VTK_MAJOR_VERSION == 8 && VTK_MINOR_VERSION >= 2) || VTK_MAJOR_VERSION > 8
-    mapper->MapDataArrayToMultiTextureAttribute(mesh.tex_materials[tex_id].tex_name.c_str(),
-      this_coordinates_name.c_str(),
-      vtkDataObject::FIELD_ASSOCIATION_POINTS);
-#else
     mapper->MapDataArrayToMultiTextureAttribute(tu,
       this_coordinates_name.c_str(),
       vtkDataObject::FIELD_ASSOCIATION_POINTS);
-#endif
     
     polydata->GetPointData ()->AddArray (coordinates);
     actor->GetProperty ()->SetTexture (tu, texture);