Support VTK7 with OpenGL2 backend

CMakeLists.txt

@@ -361,7 +361,12 @@ 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(NOT DEFINED VTK_RENDERING_BACKEND)
+      # On old VTK versions this variable does not exist. In this case it is
+      # safe to assume OpenGL backend
+      set(VTK_RENDERING_BACKEND "OpenGL")
+    endif()
+    message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}, rendering backend: ${VTK_RENDERING_BACKEND}")
     if (PCL_SHARED_LIBS OR
         (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
       set(VTK_FOUND TRUE)
@@ -377,6 +382,11 @@ if(WITH_VTK AND NOT ANDROID)
           option (VTK_USE_COCOA "Use Cocoa for VTK render windows" ON)
           MARK_AS_ADVANCED (VTK_USE_COCOA)
       endif (APPLE)
+      if(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL")
+        set(VTK_RENDERING_BACKEND_OPENGL_VERSION "1")
+      elseif(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL2")
+        set(VTK_RENDERING_BACKEND_OPENGL_VERSION "2")
+      endif()
       set(HAVE_VTK ON)
     else ()
       set(VTK_FOUND OFF)

outofcore/src/visualization/outofcore_cloud.cpp

@@ -21,7 +21,10 @@
 
 // PCL - visualziation
 #include <pcl/visualization/common/common.h>
+
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
 #include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
+#endif
 
 // VTK
 #include <vtkVersion.h>
@@ -251,11 +254,18 @@ OutofcoreCloud::render (vtkRenderer* renderer)
         {
 
           vtkSmartPointer<vtkActor> cloud_actor = vtkSmartPointer<vtkActor>::New ();
-          vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
-
           CloudDataCacheItem *cloud_data_cache_item = &cloud_data_cache.get(pcd_file);
 
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
+          vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
           mapper->SetInput (cloud_data_cache_item->item);
+#else
+          vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+          // Usually we choose between SetInput and SetInputData based on VTK version. But OpenGL ≥ 2 automatically
+          // means VTK version is ≥ 6.3
+          mapper->SetInputData (cloud_data_cache_item->item);
+#endif
+
           cloud_actor->SetMapper (mapper);
           cloud_actor->GetProperty ()->SetColor (0.0, 0.0, 1.0);
           cloud_actor->GetProperty ()->SetPointSize (1);

pcl_config.h.in

@@ -71,3 +71,7 @@
 /* Address the cases where on MacOS and OpenGL and GLUT are not frameworks */
 #cmakedefine OPENGL_IS_A_FRAMEWORK
 #cmakedefine GLUT_IS_A_FRAMEWORK
+
+/* Version of OpenGL used by VTK as rendering backend */
+#define VTK_RENDERING_BACKEND_OPENGL_VERSION ${VTK_RENDERING_BACKEND_OPENGL_VERSION}
+

visualization/CMakeLists.txt

@@ -50,8 +50,6 @@ if(build)
         src/common/float_image_utils.cpp
         src/vtk/pcl_image_canvas_source_2d.cpp
         src/vtk/pcl_context_item.cpp
-        src/vtk/vtkVertexBufferObject.cxx
-        src/vtk/vtkVertexBufferObjectMapper.cxx
         src/vtk/vtkRenderWindowInteractorFix.cpp
         )
     if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "5.6")
@@ -67,6 +65,13 @@ if(build)
             )
     endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.6")
 
+    if(VTK_RENDERING_BACKEND_OPENGL_VERSION VERSION_LESS 2)
+      list(APPEND srcs
+        "src/vtk/vtkVertexBufferObject.cxx"
+        "src/vtk/vtkVertexBufferObjectMapper.cxx"
+      )
+    endif()
+
     set(incs 
         "include/pcl/${SUBSYS_NAME}/eigen.h"
         "include/pcl/${SUBSYS_NAME}/boost.h"
@@ -127,11 +132,16 @@ if(build)
     set(vtk_incs 
         "include/pcl/${SUBSYS_NAME}/vtk/pcl_image_canvas_source_2d.h"
         "include/pcl/${SUBSYS_NAME}/vtk/pcl_context_item.h"
-        "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObject.h"
         "include/pcl/${SUBSYS_NAME}/vtk/vtkRenderWindowInteractorFix.h"
-        "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObjectMapper.h"
         )
 
+    if(VTK_RENDERING_BACKEND_OPENGL_VERSION VERSION_LESS 2)
+      list(APPEND vtk_incs
+        "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObject.h"
+        "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObjectMapper.h"
+      )
+    endif()
+
     # on apple, a workaround is used for the cocoa render window interactor
     if(APPLE)
       list(APPEND srcs

visualization/include/pcl/visualization/interactor_style.h

@@ -157,8 +157,10 @@ namespace pcl
         void 
         setRendererCollection (vtkSmartPointer<vtkRendererCollection> &rens) { rens_ = rens; }
 
-        /** \brief Pass a pointer to the actor map
-          * \param[in] use_vbos
+        /** \brief Use Vertex Buffer Objects renderers.
+          * This is an optimization for the obsolete OpenGL backend. Modern OpenGL2 backend (VTK ≥ 6.3) uses vertex
+          * buffer objects by default, transparently for the user.
+          * \param[in] use_vbos set to true to use VBOs
           */
         inline void
         setUseVbos (const bool use_vbos) { use_vbos_ = use_vbos; }
@@ -282,7 +284,7 @@ namespace pcl
         /** \brief The maximum resizeable window width/height. */
         int max_win_height_, max_win_width_;
 
-        /** \brief The maximum resizeable window width/height. */
+        /** \brief Boolean that holds whether or not to use the vtkVertexBufferObjectMapper*/
         bool use_vbos_;
 
         /** \brief Set to true if the grid actor is enabled. */

visualization/include/pcl/visualization/pcl_visualizer.h

@@ -1859,6 +1859,8 @@ namespace pcl
         setSize (int xw, int yw);
 
         /** \brief Use Vertex Buffer Objects renderers.
+          * This is an optimization for the obsolete OpenGL backend. Modern OpenGL2 backend (VTK ≥ 6.3) uses vertex
+          * buffer objects by default, transparently for the user.
           * \param[in] use_vbos set to true to use VBOs 
           */
         void

visualization/src/interactor_style.cpp

@@ -64,7 +64,9 @@
 #include <vtkPointPicker.h>
 #include <vtkAreaPicker.h>
 
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
 #include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
+#endif
 
 #define ORIENT_MODE 0
 #define SELECT_MODE 1
@@ -660,6 +662,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
         data->SetPoints (points);
         data->SetVerts (vertices);
         // Modify the mapper
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
         if (use_vbos_)
         {
           vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(act->actor->GetMapper ());
@@ -668,6 +671,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
           act->actor->SetMapper (mapper);
         }
         else
+#endif
         {
           vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
 #if VTK_MAJOR_VERSION < 6
@@ -704,6 +708,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
         vtkPolyData *data = static_cast<vtkPolyData*>(act->actor->GetMapper ()->GetInput ());
         data->GetPointData ()->SetScalars (scalars);
         // Modify the mapper
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
         if (use_vbos_)
         {
           vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(act->actor->GetMapper ());
@@ -714,6 +719,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
           act->actor->SetMapper (mapper);
         }
         else
+#endif
         {
           vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
           mapper->SetScalarRange (minmax);

visualization/src/pcl_visualizer.cpp

@@ -63,9 +63,12 @@
 #include <vtkPointPicker.h>
 
 #include <pcl/visualization/boost.h>
-#include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
 #include <pcl/visualization/vtk/vtkRenderWindowInteractorFix.h>
 
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
+#include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
+#endif
+
 #include <vtkPolyLine.h>
 #include <vtkPolyDataMapper.h>
 #include <vtkRenderWindow.h>
@@ -84,14 +87,14 @@
 #include <vtkRenderWindowInteractor.h>
 #include <vtkAreaPicker.h>
 #include <vtkXYPlotActor.h>
-#include <vtkOpenGLHardwareSupport.h>
 #include <vtkOpenGLRenderWindow.h>
 #include <vtkJPEGReader.h>
 #include <vtkBMPReader.h>
 #include <vtkPNMReader.h>
 #include <vtkPNGReader.h>
 #include <vtkTIFFReader.h>
 #include <vtkLookupTable.h>
+#include <vtkTextureUnitManager.h>
 
 #include <pcl/visualization/common/shapes.h>
 #include <pcl/visualization/pcl_visualizer.h>
@@ -1079,6 +1082,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
   if (!actor)
     actor = vtkSmartPointer<vtkLODActor>::New ();
 
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
   if (use_vbos_)
   {
     vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
@@ -1111,6 +1115,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
     actor->SetMapper (mapper);
   }
   else
+#endif
   {
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 #if VTK_MAJOR_VERSION < 6
@@ -1157,6 +1162,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
   if (!actor)
     actor = vtkSmartPointer<vtkActor>::New ();
 
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
   if (use_vbos_)
   {
     vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
@@ -1189,6 +1195,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
     actor->SetMapper (mapper);
   }
   else
+#endif
   {
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 #if VTK_MAJOR_VERSION < 6
@@ -2771,6 +2778,7 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
   vtkPolyData *data = static_cast<vtkPolyData*>(am_it->second.actor->GetMapper ()->GetInput ());
   data->GetPointData ()->SetScalars (scalars);
   // Modify the mapper
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
   if (use_vbos_)
   {
     vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(am_it->second.actor->GetMapper ());
@@ -2785,6 +2793,7 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
     //style_->setCloudActorMap (cloud_actor_map_);
   }
   else
+#endif
   {
     vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ());
     mapper->SetScalarRange (minmax);
@@ -3223,19 +3232,18 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
 #endif
 
   vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
-  vtkOpenGLHardwareSupport* hardware = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetHardwareSupport ();
-  if (!hardware)
+  vtkTextureUnitManager* tex_manager = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetTextureUnitManager ();
+  if (!tex_manager)
     return (false);
-  bool supported = hardware->GetSupportsMultiTexturing ();
   // Check if hardware support multi texture
-  std::size_t texture_units (hardware->GetNumberOfFixedTextureUnits ());
-  if ((mesh.tex_materials.size () > 1) && supported && (texture_units > 1))
+  int texture_units = tex_manager->GetNumberOfTextureUnits ();
+  if ((mesh.tex_materials.size () > 1) && (texture_units > 1))
   {
     if (texture_units < mesh.tex_materials.size ())
       PCL_WARN ("[PCLVisualizer::addTextureMesh] GPU texture units %d < mesh textures %d!\n",
                 texture_units, mesh.tex_materials.size ());
     // Load textures
-    std::size_t last_tex_id = std::min (mesh.tex_materials.size (), texture_units);
+    std::size_t last_tex_id = std::min (static_cast<int> (mesh.tex_materials.size ()), texture_units);
     int tu = vtkProperty::VTK_TEXTURE_UNIT_0;
     std::size_t tex_id = 0;
     while (tex_id < last_tex_id)
@@ -3279,7 +3287,7 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
   } // end of multi texturing
   else
   {
-    if ((mesh.tex_materials.size () > 1) && (!supported || texture_units < 2))
+    if ((mesh.tex_materials.size () > 1) && (texture_units < 2))
       PCL_WARN ("[PCLVisualizer::addTextureMesh] Your GPU doesn't support multi texturing. "
                 "Will use first one only!\n");
 
@@ -4297,8 +4305,12 @@ pcl::visualization::PCLVisualizer::resetStoppedFlag ()
 void
 pcl::visualization::PCLVisualizer::setUseVbos (bool use_vbos)
 {
+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
   use_vbos_ = use_vbos;
   style_->setUseVbos (use_vbos_);
+#else
+  PCL_WARN ("[PCLVisualizer::setUseVbos] Has no effect when OpenGL version is ≥ 2\n");
+#endif
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////