VTK6 code fixes. VTK5 backward compatibility

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

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

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

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

apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp

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

apps/modeler/src/normals_actor_item.cpp

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

apps/modeler/src/points_actor_item.cpp

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

apps/modeler/src/surface_actor_item.cpp

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

apps/src/render_views_tesselated_sphere.cpp

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

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

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

io/include/pcl/io/vtk_lib_io.h

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

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();

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);

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);

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_);

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 ();

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 ();

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_);

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_);