Make fixes for VTK 6

[kylelutz]

This fixes compilation errors encountered when building PCL
against VTK 6 (from the current git master). The changes are
based on the recommendations in the VTK 6 migration guide [1].

[1] http://www.vtk.org/Wiki/VTK/VTK_6_Migration_Guide

[kylelutz]

This is a first pass which allows PCL to compile against VTK 6. In the future another cleanup pass could be made to reduce (or abstract away) the separations between the VTK5 and VTK6 code paths.

[jspricke]

Thanks a lot for submitting this! I will put some questions and comments inline.

[jspricke]

Is this ok with VTK5 as well?

[kylelutz]

Yup, see my comments below.

[jspricke]

You've remove quite a lot of update() calls. Are you sure this still works as before with VTK5? Otherwise I guess we have to #ifdef all of them.

[kylelutz]

Thanks for the feedback!

In VTK5, vtkDataObject::Update() was provided as a convenience method which actually called update on the pipeline that produced the data object. Due to the decoupling of the data model and execution model in VTK6 this convenience method no longer exists. Making the proper change took a little work. In the case of any vtk*Writer::Write() methods, Update() will be automatically called making the explicit calls unnecessary and thus I removed them. In cases of the other VTK pipelines the Update() method should be called on the last algorithm in the pipeline instead of the data object itself and thus I moved the Update() calls there. In the case of just creating a vtkPolyData and adding points/cells/data to it no Update() needed to be called and I removed them.

I checked the changes by running the unit-tests (with ctest) and they all passed. I also opened a few data sets with pcl_viewer and everything looked fine. Can you recommend any other ways to test/verify the changes?

Thanks,
Kyle

[larshg]

Hi Kylelutz,

I tried using your changes for PCL 1.7 and it compiles fine. However I do get runtime errors when trying to run the openni_viewer example, in PCL_visualization: Some methods are defined like:

#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
win_->SetWindowName (name.c_str ());
#else
image_viewer_->GetRenderWindow ()->SetWindowName (name.c_str ());
#endif

but the constructor is in the opposite way

#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
, image_viewer_ (vtkSmartPointer::New ())
#else
, win_ (vtkSmartPointer::New ())
, ren_ (vtkSmartPointer::New ())
, slice_ (vtkSmartPointer::New ())
#endif

and hence the method tries to access the image_viewer which isn't initialized.

There was a few other changes too, but since I don't have that much experince with VTK, I think you or someone with more experince should go over the files.

I don't mind committing the changes I have made, since I can run the viewer example, but something should probably be changed/optimized.

Long post, but hopes its okay.

Regards, Lars

[kylelutz]

@larshg Sorry for the delay, I've been quite busy. Can you upload the changes that you have? I'll look them over and merge them into my branch. Thanks!

[larshg]

@kylelutz

Hi Kyle,

I have uploaded the changes, but I have started from a newer master branch - so mayby you can cherry pick the commits or else I'll try make a branch from your branch and upload it separately for a pull/merge.

Here is the commit: larshg@d72b363

The imageviewer is not working probably yet, though it doesn't crash due to invalid pointer. As of now it only shows a black screen. The VTK lib comes with following error: vtkTrivialProducer: <0BD1777B8> This data object does not contain the requested extent.

I can't find any comments about this and I haven't figured out what is wrong. The image data seems fine, but mayby its wrong use of a dataobject in VTK.

regards, Lars

[richmattes]

PCLConfig.cmake.in also needs to be changed for this patch to work. Right now, the VTK_LIBRARIES are hard-coded into the cmake file, and they're all wrong for vtk6.

Additionally, it looks like the way PCLConfig.cmake is collecting preprocessor definitions is broken when using vtk6. When trying to build a project that uses pcl, calling ADD_DEFINITIONS(${PCL_DEFINITIONS}) causes make to bail because of unescaped parentheses on the command line. I'm still looking into that issue, I'll try to generate a test case to reproduce the issue

[jspricke]

HI @kylelutz could you streamline this a litte? Like remove the merge and unrelated commits? Try git rebase -i. This would make it easier to review. Thanks!

[fran6co]

@jspricke @kylelutz I took the liberty to rebase it, could you review it in #363?

[jspricke]

closing this one in favor of #363, thanks for the work!