pcl-vtk6.patch

   1 diff -up ./apps/src/render_views_tesselated_sphere.cpp.vtk6 ./apps/src/render_views_tesselated_sphere.cpp
   2 --- ./apps/src/render_views_tesselated_sphere.cpp.vtk6  2013-07-23 17:21:02.000000000 +0000
   3 +++ ./apps/src/render_views_tesselated_sphere.cpp       2013-08-21 00:45:59.009844777 +0000
   4 @@ -61,7 +61,7 @@ pcl::apps::RenderViewsTesselatedSphere::
   5
   6    vtkSmartPointer<vtkTransformFilter> trans_filter_center = vtkSmartPointer<vtkTransformFilter>::New ();
   7    trans_filter_center->SetTransform (trans_center);
   8 -  trans_filter_center->SetInput (polydata_);
   9 +  trans_filter_center->SetInputData (polydata_);
  10    trans_filter_center->Update ();
  11
  12    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
  13 diff -up ./common/CMakeLists.txt.vtk6 ./common/CMakeLists.txt
  14 diff -up ./io/CMakeLists.txt.vtk6 ./io/CMakeLists.txt
  15 --- ./io/CMakeLists.txt.vtk6    2013-08-21 01:00:05.542130262 +0000
  16 +++ ./io/CMakeLists.txt 2013-08-21 01:08:03.636174342 +0000
  17 @@ -94,7 +94,8 @@ if(build)
  18              src/vtk_lib_io.cpp
  19              src/png_io.cpp
  20             )
  21 -        set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkIO vtkImaging vtkHybrid vtkGraphics vtkRendering vtkFiltering vtkVolumeRendering)
  22 +        set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommonCore vtkIOCore vtkIOImage vtkIOLegacy vtkIOPLY vtkImagingCore)
  23 +        #set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommonCore vtkInteractionWidgets vtkIOCore vtkImaging vtkHybrid vtkGraphics vtkRendering vtkFiltering vtkVolumeRendering)
  24          # Indicates that we can rely on VTK to be present
  25          set(VTK_DEFINES -DPCL_BUILT_WITH_VTK)
  26      endif ()
  27 diff -up ./io/src/vtk_lib_io.cpp.vtk6 ./io/src/vtk_lib_io.cpp
  28 --- ./io/src/vtk_lib_io.cpp.vtk6        2013-07-23 17:21:02.000000000 +0000
  29 +++ ./io/src/vtk_lib_io.cpp     2013-08-21 00:56:28.418488030 +0000
  30 @@ -178,7 +178,7 @@ pcl::io::savePolygonFileVTK (const std::
  31    pcl::io::mesh2vtk (mesh, poly_data);
  32
  33    vtkSmartPointer<vtkPolyDataWriter> poly_writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
  34 -  poly_writer->SetInput (poly_data);
  35 +  poly_writer->SetInputData (poly_data);
  36    poly_writer->SetFileName (file_name.c_str ());
  37    poly_writer->Write ();
  38
  39 @@ -194,7 +194,7 @@ pcl::io::savePolygonFilePLY (const std::
  40    pcl::io::mesh2vtk (mesh, poly_data);
  41
  42    vtkSmartPointer<vtkPLYWriter> poly_writer = vtkSmartPointer<vtkPLYWriter>::New ();
  43 -  poly_writer->SetInput (poly_data);
  44 +  poly_writer->SetInputData (poly_data);
  45    poly_writer->SetFileName (file_name.c_str ());
  46         poly_writer->SetArrayName ("Colors");
  47    poly_writer->Write ();
  48 @@ -209,9 +209,9 @@ pcl::io::savePolygonFileSTL (const std::
  49    vtkSmartPointer<vtkPolyData> poly_data = vtkSmartPointer<vtkPolyData>::New ();
  50
  51    pcl::io::mesh2vtk (mesh, poly_data);
  52 -  poly_data->Update ();
  53 +
  54    vtkSmartPointer<vtkSTLWriter> poly_writer = vtkSmartPointer<vtkSTLWriter>::New ();
  55 -  poly_writer->SetInput (poly_data);
  56 +  poly_writer->SetInputData (poly_data);
  57    poly_writer->SetFileName (file_name.c_str ());
  58    poly_writer->Write ();
  59
  60 @@ -483,9 +483,7 @@ pcl::io::saveRangeImagePlanarFilePNG (
  61  {
  62    vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New();
  63    image->SetDimensions(range_image.width, range_image.height, 1);
  64 -  image->SetNumberOfScalarComponents(1);
  65 -  image->SetScalarTypeToFloat();
  66 -  image->AllocateScalars();
  67 +  image->AllocateScalars(VTK_FLOAT, 1);
  68
  69    int* dims = image->GetDimensions();
  70
  71 @@ -504,7 +502,7 @@ pcl::io::saveRangeImagePlanarFilePNG (
  72
  73    vtkSmartPointer<vtkImageShiftScale> shiftScaleFilter = vtkSmartPointer<vtkImageShiftScale>::New();
  74    shiftScaleFilter->SetOutputScalarTypeToUnsignedChar();
  75 -  shiftScaleFilter->SetInputConnection(image->GetProducerPort());
  76 +  shiftScaleFilter->SetInputData(image);
  77    shiftScaleFilter->SetShift(-1.0f * image->GetScalarRange()[0]); // brings the lower bound to 0
  78    shiftScaleFilter->SetScale(newRange/oldRange);
  79    shiftScaleFilter->Update();
  80 diff -up ./outofcore/include/pcl/outofcore/visualization/axes.h.vtk6 ./outofcore/include/pcl/outofcore/visualization/axes.h
  81 --- ./outofcore/include/pcl/outofcore/visualization/axes.h.vtk6 2013-08-21 03:00:40.617165806 +0000
  82 +++ ./outofcore/include/pcl/outofcore/visualization/axes.h      2013-08-21 03:01:25.741106196 +0000
  83 @@ -42,17 +42,17 @@ public:
  84      axes_colors->InsertNextValue (1.0);
  85
  86      vtkSmartPointer<vtkPolyData> axes_data = axes_->GetOutput ();
  87 -    axes_data->Update ();
  88 +    axes_->Update ();
  89      axes_data->GetPointData ()->SetScalars (axes_colors);
  90
  91      vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
  92 -    axes_tubes->SetInput (axes_data);
  93 +    axes_tubes->SetInputData (axes_data);
  94      axes_tubes->SetRadius (axes_->GetScaleFactor () / 100.0);
  95      axes_tubes->SetNumberOfSides (6);
  96
  97      vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
  98      axes_mapper->SetScalarModeToUsePointData ();
  99 -    axes_mapper->SetInput (axes_tubes->GetOutput ());
 100 +    axes_mapper->SetInputData (axes_tubes->GetOutput ());
 101
 102      axes_actor_ = vtkSmartPointer<vtkActor>::New ();
 103      axes_actor_->GetProperty ()->SetLighting (false);
 104 diff -up ./outofcore/src/visualization/outofcore_cloud.cpp.vtk6 ./outofcore/src/visualization/outofcore_cloud.cpp
 105 --- ./outofcore/src/visualization/outofcore_cloud.cpp.vtk6      2013-08-21 03:02:35.847575422 +0000
 106 +++ ./outofcore/src/visualization/outofcore_cloud.cpp   2013-08-21 03:02:50.185875912 +0000
 107 @@ -159,10 +159,10 @@ OutofcoreCloud::updateVoxelData ()
 108      double y = voxel_centers[i].y;
 109      double z = voxel_centers[i].z;
 110
 111 -    voxel_data->AddInput (getVtkCube (x - s, x + s, y - s, y + s, z - s, z + s));
 112 +    voxel_data->AddInputData (getVtkCube (x - s, x + s, y - s, y + s, z - s, z + s));
 113    }
 114
 115 -  voxel_mapper->SetInput (voxel_data->GetOutput ());
 116 +  voxel_mapper->SetInputData (voxel_data->GetOutput ());
 117
 118    voxel_actor_->SetMapper (voxel_mapper);
 119    voxel_actor_->GetProperty ()->SetRepresentationToWireframe ();
 120 diff -up ./surface/CMakeLists.txt.vtk6 ./surface/CMakeLists.txt
 121 --- ./surface/CMakeLists.txt.vtk6       2013-08-21 11:46:59.239250137 +0000
 122 +++ ./surface/CMakeLists.txt    2013-08-21 11:58:58.245855578 +0000
 123 @@ -44,7 +44,7 @@ if(build)
 124              src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp
 125              src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp
 126              src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp)
 127 -        set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkGraphics)
 128 +        set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommonCore vtkFiltersModeling)
 129      endif()
 130
 131      SET(BUILD_surface_on_nurbs 0 CACHE BOOL "Fitting NURBS to point-clouds using openNURBS" )
 132 diff -up ./surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp.vtk6 ./surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp
 133 --- ./surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp.vtk6    2013-08-21 11:44:17.076092636 +0000
 134 +++ ./surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp 2013-08-21 11:44:31.965381729 +0000
 135 @@ -59,7 +59,7 @@ pcl::MeshQuadricDecimationVTK::performPr
 136    // Apply the VTK algorithm
 137    vtkSmartPointer<vtkQuadricDecimation> vtk_quadric_decimation_filter = vtkSmartPointer<vtkQuadricDecimation>::New();
 138    vtk_quadric_decimation_filter->SetTargetReduction (target_reduction_factor_);
 139 -  vtk_quadric_decimation_filter->SetInput (vtk_polygons_);
 140 +  vtk_quadric_decimation_filter->SetInputData (vtk_polygons_);
 141    vtk_quadric_decimation_filter->Update ();
 142
 143    vtk_polygons_ = vtk_quadric_decimation_filter->GetOutput ();
 144 diff -up ./surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp.vtk6 ./surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp
 145 --- ./surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp.vtk6   2013-07-23 17:21:02.000000000 +0000
 146 +++ ./surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp        2013-08-21 00:45:59.009844777 +0000
 147 @@ -51,7 +51,7 @@ pcl::MeshSmoothingLaplacianVTK::performP
 148
 149    // Apply the VTK algorithm
 150    vtkSmartPointer<vtkSmoothPolyDataFilter> vtk_smoother = vtkSmoothPolyDataFilter::New ();
 151 -  vtk_smoother->SetInput (vtk_polygons_);
 152 +  vtk_smoother->SetInputData (vtk_polygons_);
 153    vtk_smoother->SetNumberOfIterations (num_iter_);
 154    if (convergence_ != 0.0f)
 155      vtk_smoother->SetConvergence (convergence_);
 156 diff -up ./surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp.vtk6 ./surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp
 157 --- ./surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp.vtk6       2013-07-23 17:21:02.000000000 +0000
 158 +++ ./surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp    2013-08-21 00:45:59.009844777 +0000
 159 @@ -51,7 +51,7 @@ pcl::MeshSmoothingWindowedSincVTK::perfo
 160
 161    // Apply the VTK algorithm
 162    vtkSmartPointer<vtkWindowedSincPolyDataFilter> vtk_smoother = vtkWindowedSincPolyDataFilter::New ();
 163 -  vtk_smoother->SetInput (vtk_polygons_);
 164 +  vtk_smoother->SetInputData (vtk_polygons_);
 165    vtk_smoother->SetNumberOfIterations (num_iter_);
 166    vtk_smoother->SetPassBand (pass_band_);
 167    vtk_smoother->SetNormalizeCoordinates (normalize_coordinates_);
 168 diff -up ./surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp.vtk6 ./surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp
 169 --- ./surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp.vtk6   2013-07-23 17:21:02.000000000 +0000
 170 +++ ./surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp        2013-08-21 00:45:59.009844777 +0000
 171 @@ -78,7 +78,7 @@ pcl::MeshSubdivisionVTK::performProcessi
 172        break;
 173    }
 174
 175 -  vtk_subdivision_filter->SetInput (vtk_polygons_);
 176 +  vtk_subdivision_filter->SetInputData (vtk_polygons_);
 177    vtk_subdivision_filter->Update ();
 178
 179    vtk_polygons_ = vtk_subdivision_filter->GetOutput ();
 180 diff -up ./surface/src/vtk_smoothing/vtk_utils.cpp.vtk6 ./surface/src/vtk_smoothing/vtk_utils.cpp
 181 --- ./surface/src/vtk_smoothing/vtk_utils.cpp.vtk6      2013-07-23 17:21:02.000000000 +0000
 182 +++ ./surface/src/vtk_smoothing/vtk_utils.cpp   2013-08-21 00:45:59.009844777 +0000
 183 @@ -63,7 +63,7 @@ pcl::VTKUtils::convertToVTK (const pcl::
 184    mesh2vtk (triangles, vtk_polygons);
 185
 186    vtkSmartPointer<vtkTriangleFilter> vtk_triangles = vtkTriangleFilter::New ();
 187 -  vtk_triangles->SetInput (vtk_polygons);
 188 +  vtk_triangles->SetInputData (vtk_polygons);
 189    vtk_triangles->Update();
 190
 191    triangles_out_vtk = vtk_triangles->GetOutput ();
 192 diff -up ./tools/CMakeLists.txt.vtk6 ./tools/CMakeLists.txt
 193 --- ./tools/CMakeLists.txt.vtk6 2013-08-21 12:03:18.889571490 +0000
 194 +++ ./tools/CMakeLists.txt      2013-08-21 21:52:31.977816445 +0000
 195 @@ -157,7 +157,7 @@ if (build)
 196        target_link_libraries (pcl_organized_pcd_to_png pcl_common pcl_io)
 197
 198        PCL_ADD_EXECUTABLE(pcl_tiff2pcd ${SUBSYS_NAME} tiff2pcd.cpp)
 199 -      target_link_libraries(pcl_tiff2pcd pcl_common pcl_io)
 200 +      target_link_libraries(pcl_tiff2pcd pcl_common pcl_io vtkRenderingCore vtkRenderingOpenGL vtkRenderingFreeType vtkRenderingFreeTypeOpenGL vtkRenderingFreeTypeFontConfig vtkRenderingMatplotlib vtkRenderingVolume vtkRenderingVolumeOpenGL vtkFiltersStatistics vtkFiltersStatisticsGnuR vtkInteractionStyle vtkFiltersStatistics)
 201
 202        PCL_ADD_EXECUTABLE(pcl_ply2vtk ${SUBSYS_NAME} ply2vtk.cpp)
 203        target_link_libraries(pcl_ply2vtk pcl_common pcl_io)
 204 @@ -172,7 +172,7 @@ if (build)
 205        target_link_libraries(pcl_obj2vtk pcl_common pcl_io)
 206
 207        PCL_ADD_EXECUTABLE(pcl_vtk2pcd ${SUBSYS_NAME} vtk2pcd.cpp)
 208 -      target_link_libraries(pcl_vtk2pcd pcl_common pcl_io)
 209 +      target_link_libraries(pcl_vtk2pcd pcl_common pcl_io vtkFiltersCore)
 210
 211        if(BUILD_visualization)
 212
 213 @@ -206,13 +206,13 @@ if (build)
 214          target_link_libraries(pcl_octree_viewer pcl_common pcl_io pcl_octree pcl_visualization pcl_kdtree pcl_filters)
 215
 216          PCL_ADD_EXECUTABLE(pcl_mesh2pcd ${SUBSYS_NAME} mesh2pcd.cpp)
 217 -        target_link_libraries(pcl_mesh2pcd pcl_common pcl_io pcl_visualization pcl_filters vtkCommon)
 218 +        target_link_libraries(pcl_mesh2pcd pcl_common pcl_io pcl_visualization pcl_filters vtkCommonCore)
 219
 220          PCL_ADD_EXECUTABLE(pcl_mesh_sampling ${SUBSYS_NAME} mesh_sampling.cpp)
 221 -        target_link_libraries(pcl_mesh_sampling pcl_common pcl_io pcl_visualization pcl_filters vtkCommon)
 222 +        target_link_libraries(pcl_mesh_sampling pcl_common pcl_io pcl_visualization pcl_filters vtkCommonCore)
 223
 224          PCL_ADD_EXECUTABLE(pcl_virtual_scanner ${SUBSYS_NAME} virtual_scanner.cpp)
 225 -        target_link_libraries(pcl_virtual_scanner pcl_common pcl_io pcl_filters pcl_visualization vtkCommon vtkGraphics)
 226 +        target_link_libraries(pcl_virtual_scanner pcl_common pcl_io pcl_filters pcl_visualization vtkCommonCore vtkRenderingCore)
 227
 228          PCL_ADD_EXECUTABLE (pcl_voxel_grid_occlusion_estimation ${SUBSYS_NAME} voxel_grid_occlusion_estimation.cpp)
 229          target_link_libraries (pcl_voxel_grid_occlusion_estimation pcl_common pcl_io pcl_filters pcl_visualization)
 230 diff -up ./tools/mesh2pcd.cpp.vtk6 ./tools/mesh2pcd.cpp
 231 --- ./tools/mesh2pcd.cpp.vtk6   2013-08-21 12:02:28.533640909 +0000
 232 +++ ./tools/mesh2pcd.cpp        2013-08-21 12:02:57.648177984 +0000
 233 @@ -112,14 +112,14 @@ main (int argc, char **argv)
 234      vtkSmartPointer<vtkPLYReader> readerQuery = vtkSmartPointer<vtkPLYReader>::New ();
 235      readerQuery->SetFileName (argv[ply_file_indices[0]]);
 236      polydata1 = readerQuery->GetOutput ();
 237 -    polydata1->Update ();
 238 +    readerQuery->Update ();
 239    }
 240    else if (obj_file_indices.size () == 1)
 241    {
 242      vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
 243      readerQuery->SetFileName (argv[obj_file_indices[0]]);
 244      polydata1 = readerQuery->GetOutput ();
 245 -    polydata1->Update ();
 246 +    readerQuery->Update ();
 247    }
 248
 249    bool INTER_VIS = false;
 250 diff -up ./tools/mesh_sampling.cpp.vtk6 ./tools/mesh_sampling.cpp
 251 --- ./tools/mesh_sampling.cpp.vtk6      2013-07-23 17:21:02.000000000 +0000
 252 +++ ./tools/mesh_sampling.cpp   2013-08-21 12:04:48.924253782 +0000
 253 @@ -197,19 +197,19 @@ main (int argc, char **argv)
 254      vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
 255      readerQuery->SetFileName (argv[obj_file_indices[0]]);
 256      polydata1 = readerQuery->GetOutput ();
 257 -    polydata1->Update ();
 258 +    readerQuery->Update ();
 259    }
 260
 261    //make sure that the polygons are triangles!
 262    vtkSmartPointer<vtkTriangleFilter> triangleFilter = vtkSmartPointer<vtkTriangleFilter>::New ();
 263 -  triangleFilter->SetInput (polydata1);
 264 +  triangleFilter->SetInputData (polydata1);
 265    triangleFilter->Update ();
 266
 267    vtkSmartPointer<vtkPolyDataMapper> triangleMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
 268    triangleMapper->SetInputConnection (triangleFilter->GetOutputPort ());
 269    triangleMapper->Update();
 270    polydata1 = triangleMapper->GetInput();
 271 -  polydata1->Update ();
 272 +  triangleMapper->Update ();
 273
 274    bool INTER_VIS = false;
 275    bool VIS = true;
 276 diff -up ./tools/obj2vtk.cpp.vtk6 ./tools/obj2vtk.cpp
 277 --- ./tools/obj2vtk.cpp.vtk6    2013-08-21 12:19:09.415203938 +0000
 278 +++ ./tools/obj2vtk.cpp 2013-08-21 12:20:53.422308400 +0000
 279 @@ -77,11 +77,11 @@ main (int argc, char** argv)
 280    vtkSmartPointer<vtkOBJReader> reader = vtkSmartPointer<vtkOBJReader>::New ();
 281    reader->SetFileName (argv[obj_file_indices[0]]);
 282    polydata = reader->GetOutput ();
 283 -  polydata->Update ();
 284 +  reader->Update ();
 285
 286    // Convert to VTK and save
 287    vtkSmartPointer<vtkPolyDataWriter> writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
 288 -  writer->SetInput (polydata);
 289 +  writer->SetInputData (polydata);
 290    writer->SetFileName (argv[vtk_file_indices[0]]);
 291    writer->Write ();
 292  }
 293 diff -up ./tools/obj_rec_ransac_accepted_hypotheses.cpp.vtk6 ./tools/obj_rec_ransac_accepted_hypotheses.cpp
 294 --- ./tools/obj_rec_ransac_accepted_hypotheses.cpp.vtk6 2013-08-21 12:21:36.920187867 +0000
 295 +++ ./tools/obj_rec_ransac_accepted_hypotheses.cpp      2013-08-21 12:21:55.581565073 +0000
 296 @@ -323,13 +323,13 @@ update (CallbackParameters* params)
 297      // Setup the transformator
 298      vtkSmartPointer<vtkTransformPolyDataFilter> vtk_transformator = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
 299      vtk_transformator->SetTransform (vtk_transform);
 300 -    vtk_transformator->SetInput (vtk_model);
 301 +    vtk_transformator->SetInputData (vtk_model);
 302      vtk_transformator->Update ();
 303
 304      // Visualize
 305      vtkSmartPointer<vtkActor> vtk_actor = vtkSmartPointer<vtkActor>::New();
 306      vtkSmartPointer<vtkPolyDataMapper> vtk_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
 307 -    vtk_mapper->SetInput(vtk_transformator->GetOutput ());
 308 +    vtk_mapper->SetInputData(vtk_transformator->GetOutput ());
 309      vtk_actor->SetMapper(vtk_mapper);
 310      // Set the appearance & add to the renderer
 311      vtk_actor->GetProperty ()->SetColor (0.6, 0.7, 0.9);
 312 diff -up ./tools/obj_rec_ransac_model_opps.cpp.vtk6 ./tools/obj_rec_ransac_model_opps.cpp
 313 --- ./tools/obj_rec_ransac_model_opps.cpp.vtk6  2013-08-21 12:22:50.385672453 +0000
 314 +++ ./tools/obj_rec_ransac_model_opps.cpp       2013-08-21 12:23:04.255952621 +0000
 315 @@ -215,7 +215,7 @@ void showModelOpps (PCLVisualizer& viz,
 316    // Save the normals
 317    vtk_opps->GetPointData ()->SetNormals (vtk_normals);
 318    // Setup the hedge hog object
 319 -  vtk_hedge_hog->SetInput (vtk_opps);
 320 +  vtk_hedge_hog->SetInputData (vtk_opps);
 321    vtk_hedge_hog->SetVectorModeToUseNormal ();
 322    vtk_hedge_hog->SetScaleFactor (0.5f*pair_width);
 323    vtk_hedge_hog->Update ();
 324 diff -up ./tools/obj_rec_ransac_orr_octree.cpp.vtk6 ./tools/obj_rec_ransac_orr_octree.cpp
 325 --- ./tools/obj_rec_ransac_orr_octree.cpp.vtk6  2013-08-21 12:23:59.602070262 +0000
 326 +++ ./tools/obj_rec_ransac_orr_octree.cpp       2013-08-21 12:24:21.623514810 +0000
 327 @@ -304,7 +304,7 @@ void node_to_cube (ORROctree::Node* node
 328    cube->SetBounds (b[0], b[1], b[2], b[3], b[4], b[5]);
 329    cube->Update ();
 330
 331 -  additive_octree->AddInput (cube->GetOutput ());
 332 +  additive_octree->AddInputData (cube->GetOutput ());
 333  }
 334
 335  //===============================================================================================================================
 336 @@ -363,7 +363,7 @@ void show_octree (ORROctree* octree, PCL
 337    vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
 338    vtkSmartPointer<vtkActor> octree_actor = vtkSmartPointer<vtkActor>::New();
 339    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 340 -  mapper->SetInput(vtk_octree);
 341 +  mapper->SetInputData(vtk_octree);
 342    octree_actor->SetMapper(mapper);
 343
 344    // Set the appearance & add to the renderer
 345 diff -up ./tools/obj_rec_ransac_orr_octree_zprojection.cpp.vtk6 ./tools/obj_rec_ransac_orr_octree_zprojection.cpp
 346 --- ./tools/obj_rec_ransac_orr_octree_zprojection.cpp.vtk6      2013-08-21 21:26:26.090325485 +0000
 347 +++ ./tools/obj_rec_ransac_orr_octree_zprojection.cpp   2013-08-21 21:27:15.501360394 +0000
 348 @@ -206,7 +206,7 @@ void show_octree (ORROctree* octree, PCL
 349    vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
 350    vtkSmartPointer<vtkActor> octree_actor = vtkSmartPointer<vtkActor>::New();
 351    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 352 -  mapper->SetInput(vtk_octree);
 353 +  mapper->SetInputData(vtk_octree);
 354    octree_actor->SetMapper(mapper);
 355
 356    // Set the appearance & add to the renderer
 357 @@ -250,9 +250,9 @@ void show_octree_zproj (ORROctreeZProjec
 358    vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
 359    vtkSmartPointer<vtkActor> upper_actor = vtkSmartPointer<vtkActor>::New(), lower_actor = vtkSmartPointer<vtkActor>::New();
 360    vtkSmartPointer<vtkDataSetMapper> upper_mapper = vtkSmartPointer<vtkDataSetMapper>::New (), lower_mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 361 -  upper_mapper->SetInput(upper_bound->GetOutput ());
 362 +  upper_mapper->SetInputData(upper_bound->GetOutput ());
 363    upper_actor->SetMapper(upper_mapper);
 364 -  lower_mapper->SetInput(lower_bound->GetOutput ());
 365 +  lower_mapper->SetInputData(lower_bound->GetOutput ());
 366    lower_actor->SetMapper(lower_mapper);
 367
 368    // Set the appearance & add to the renderer
 369 @@ -272,7 +272,7 @@ void node_to_cube (ORROctree::Node* node
 370    cube->SetBounds (b[0], b[1], b[2], b[3], b[4], b[5]);
 371    cube->Update ();
 372
 373 -  additive_octree->AddInput (cube->GetOutput ());
 374 +  additive_octree->AddInputData (cube->GetOutput ());
 375  }
 376
 377  //===============================================================================================================================
 378 @@ -284,7 +284,7 @@ void rectangle_to_vtk (float x1, float x
 379    cube->SetBounds (x1, x2, y1, y2, z, z);
 380    cube->Update ();
 381
 382 -  additive_rectangle->AddInput (cube->GetOutput ());
 383 +  additive_rectangle->AddInputData (cube->GetOutput ());
 384  }
 385
 386  //===============================================================================================================================
 387 diff -up ./tools/obj_rec_ransac_result.cpp.vtk6 ./tools/obj_rec_ransac_result.cpp
 388 --- ./tools/obj_rec_ransac_result.cpp.vtk6      2013-08-21 21:27:49.210066401 +0000
 389 +++ ./tools/obj_rec_ransac_result.cpp   2013-08-21 21:28:04.681390430 +0000
 390 @@ -281,13 +281,13 @@ update (CallbackParameters* params)
 391      // Setup the transformator
 392      vtkSmartPointer<vtkTransformPolyDataFilter> vtk_transformator = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
 393      vtk_transformator->SetTransform (vtk_transform);
 394 -    vtk_transformator->SetInput (vtk_model);
 395 +    vtk_transformator->SetInputData (vtk_model);
 396      vtk_transformator->Update ();
 397
 398      // Visualize
 399      vtkSmartPointer<vtkActor> vtk_actor = vtkSmartPointer<vtkActor>::New();
 400      vtkSmartPointer<vtkPolyDataMapper> vtk_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
 401 -    vtk_mapper->SetInput(vtk_transformator->GetOutput ());
 402 +    vtk_mapper->SetInputData(vtk_transformator->GetOutput ());
 403      vtk_actor->SetMapper(vtk_mapper);
 404      // Set the appearance & add to the renderer
 405      vtk_actor->GetProperty ()->SetColor (0.6, 0.7, 0.9);
 406 diff -up ./tools/obj_rec_ransac_scene_opps.cpp.vtk6 ./tools/obj_rec_ransac_scene_opps.cpp
 407 --- ./tools/obj_rec_ransac_scene_opps.cpp.vtk6  2013-08-21 21:29:21.909007870 +0000
 408 +++ ./tools/obj_rec_ransac_scene_opps.cpp       2013-08-21 21:29:32.698233839 +0000
 409 @@ -173,7 +173,7 @@ void update (CallbackParameters* params)
 410    vtkSmartPointer<vtkHedgeHog> vtk_hh = vtkSmartPointer<vtkHedgeHog>::New ();
 411    vtk_hh->SetVectorModeToUseNormal ();
 412    vtk_hh->SetScaleFactor (0.5f*params->objrec_.getPairWidth ());
 413 -  vtk_hh->SetInput (vtk_opps);
 414 +  vtk_hh->SetInputData (vtk_opps);
 415    vtk_hh->Update ();
 416
 417    // The lines
 418 diff -up ./tools/octree_viewer.cpp.vtk6 ./tools/octree_viewer.cpp
 419 --- ./tools/octree_viewer.cpp.vtk6      2013-07-23 17:21:02.000000000 +0000
 420 +++ ./tools/octree_viewer.cpp   2013-08-21 21:30:09.428003080 +0000
 421 @@ -294,13 +294,13 @@ private:
 422        double y = displayCloud->points[i].y;
 423        double z = displayCloud->points[i].z;
 424
 425 -      treeWireframe->AddInput(GetCuboid(x - s, x + s, y - s, y + s, z - s, z + s));
 426 +      treeWireframe->AddInputData(GetCuboid(x - s, x + s, y - s, y + s, z - s, z + s));
 427      }
 428
 429      vtkSmartPointer<vtkActor> treeActor = vtkSmartPointer<vtkActor>::New();
 430
 431      vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
 432 -    mapper->SetInput(treeWireframe->GetOutput());
 433 +    mapper->SetInputConnection(treeWireframe->GetOutputPort());
 434      treeActor->SetMapper(mapper);
 435
 436      treeActor->GetProperty()->SetColor(1.0, 1.0, 1.0);
 437 diff -up ./tools/ply2vtk.cpp.vtk6 ./tools/ply2vtk.cpp
 438 --- ./tools/ply2vtk.cpp.vtk6    2013-08-21 21:33:03.894656841 +0000
 439 +++ ./tools/ply2vtk.cpp 2013-08-21 21:33:52.922683565 +0000
 440 @@ -77,12 +77,12 @@ main (int argc, char** argv)
 441    vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New ();
 442    reader->SetFileName (argv[ply_file_indices[0]]);
 443    polydata = reader->GetOutput ();
 444 -  polydata->Update ();
 445 +  reader->Update ();
 446    print_info ("Loaded %s with %zu points/vertices.\n", argv[ply_file_indices[0]], polydata->GetNumberOfPoints ());
 447
 448    // Convert to VTK and save
 449    vtkSmartPointer<vtkPolyDataWriter> writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
 450 -  writer->SetInput (polydata);
 451 +  writer->SetInputData (polydata);
 452    writer->SetFileName (argv[vtk_file_indices[0]]);
 453    writer->SetFileTypeToBinary ();
 454    writer->Write ();
 455 diff -up ./tools/png2pcd.cpp.vtk6 ./tools/png2pcd.cpp
 456 --- ./tools/png2pcd.cpp.vtk6    2013-08-21 21:38:51.232930286 +0000
 457 +++ ./tools/png2pcd.cpp 2013-08-21 21:39:07.930279915 +0000
 458 @@ -135,7 +135,7 @@ main (int argc, char** argv)
 459    vtkSmartPointer<vtkPNGReader> reader = vtkSmartPointer<vtkPNGReader>::New ();
 460    reader->SetFileName (argv[png_file_indices[0]]);
 461    image_data = reader->GetOutput ();
 462 -  image_data->Update ();
 463 +  reader->Update ();
 464
 465    // Retrieve the entries from the image data and copy them into the output RGB cloud
 466    int components = image_data->GetNumberOfScalarComponents();
 467 diff -up ./tools/tiff2pcd.cpp.vtk6 ./tools/tiff2pcd.cpp
 468 --- ./tools/tiff2pcd.cpp.vtk6   2013-08-21 21:40:40.661221583 +0000
 469 +++ ./tools/tiff2pcd.cpp        2013-08-21 21:41:04.837727812 +0000
 470 @@ -343,7 +343,7 @@ int main(int argc, char ** argv)
 471      {
 472        reader->SetFileName (tiff_rgb_files[i].c_str());
 473        rgb_data = reader->GetOutput ();
 474 -      rgb_data->Update ();
 475 +      reader->Update ();
 476
 477        std::string rgb_filename = tiff_rgb_paths[i].filename().string();
 478        std::string rgb_time = rgb_filename.substr(6,22);
 479 @@ -381,7 +381,7 @@ int main(int argc, char ** argv)
 480            {
 481              depth_reader->SetFileName (tiff_depth_files[j].c_str());
 482              depth_data = depth_reader->GetOutput ();
 483 -            depth_data->Update ();
 484 +            depth_reader->Update ();
 485
 486              processAndSave(depth_data, rgb_data, depth_time, focal_length, format, color, depth, use_output_path, output_path_);
 487            }
 488 diff -up ./tools/virtual_scanner.cpp.vtk6 ./tools/virtual_scanner.cpp
 489 --- ./tools/virtual_scanner.cpp.vtk6    2013-08-21 21:46:18.703160995 +0000
 490 +++ ./tools/virtual_scanner.cpp 2013-08-21 21:46:36.537526230 +0000
 491 @@ -221,7 +221,7 @@ main (int argc, char** argv)
 492
 493    // Get camera positions
 494    vtkPolyData *sphere = subdivide->GetOutput ();
 495 -  sphere->Update ();
 496 +  subdivide->Update ();
 497    if (!single_view)
 498      PCL_INFO ("Created %ld camera position points.\n", sphere->GetNumberOfPoints ());
 499
 500 diff -up ./tools/voxel_grid_occlusion_estimation.cpp.vtk6 ./tools/voxel_grid_occlusion_estimation.cpp
 501 --- ./tools/voxel_grid_occlusion_estimation.cpp.vtk6    2013-08-21 21:48:52.163305550 +0000
 502 +++ ./tools/voxel_grid_occlusion_estimation.cpp 2013-08-21 21:50:58.043887848 +0000
 503 @@ -99,13 +99,13 @@ getVoxelActors (pcl::PointCloud<pcl::Poi
 504      double y = voxelCenters.points[i].y;
 505      double z = voxelCenters.points[i].z;
 506
 507 -    treeWireframe->AddInput (getCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
 508 +    treeWireframe->AddInputData (getCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
 509    }
 510
 511    vtkSmartPointer < vtkLODActor > treeActor = vtkSmartPointer<vtkLODActor>::New ();
 512
 513    vtkSmartPointer < vtkDataSetMapper > mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 514 -  mapper->SetInput (treeWireframe->GetOutput ());
 515 +  mapper->SetInputData (treeWireframe->GetOutput ());
 516    treeActor->SetMapper (mapper);
 517
 518    treeActor->GetProperty ()->SetRepresentationToWireframe ();
 519 @@ -119,12 +119,12 @@ displayBoundingBox (Eigen::Vector3f& min
 520                      vtkSmartPointer<vtkActorCollection> coll)
 521  {
 522    vtkSmartPointer < vtkAppendPolyData > treeWireframe = vtkSmartPointer<vtkAppendPolyData>::New ();
 523 -  treeWireframe->AddInput (getCuboid (min_b[0], max_b[0], min_b[1], max_b[1], min_b[2], max_b[2]));
 524 +  treeWireframe->AddInputData (getCuboid (min_b[0], max_b[0], min_b[1], max_b[1], min_b[2], max_b[2]));
 525
 526    vtkSmartPointer < vtkActor > treeActor = vtkSmartPointer<vtkActor>::New ();
 527
 528    vtkSmartPointer < vtkDataSetMapper > mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 529 -  mapper->SetInput (treeWireframe->GetOutput ());
 530 +  mapper->SetInputData (treeWireframe->GetOutput ());
 531    treeActor->SetMapper (mapper);
 532
 533    treeActor->GetProperty ()->SetRepresentationToWireframe ();
 534 diff -up ./tools/vtk2pcd.cpp.vtk6 ./tools/vtk2pcd.cpp
 535 --- ./tools/vtk2pcd.cpp.vtk6    2013-08-21 21:51:08.163095564 +0000
 536 +++ ./tools/vtk2pcd.cpp 2013-08-21 21:51:18.089299305 +0000
 537 @@ -107,7 +107,7 @@ main (int argc, char** argv)
 538    if (copy_normals)
 539    {
 540      vtkSmartPointer<vtkPolyDataNormals> ng = vtkSmartPointer<vtkPolyDataNormals>::New ();
 541 -    ng->SetInput (polydata);
 542 +    ng->SetInputData (polydata);
 543      ng->ComputePointNormalsOn ();
 544      ng->ComputeCellNormalsOff ();
 545      ng->Update ();
 546 diff -up ./tools/vtk2ply.cpp.vtk6 ./tools/vtk2ply.cpp
 547 --- ./tools/vtk2ply.cpp.vtk6    2013-08-21 21:52:57.293336401 +0000
 548 +++ ./tools/vtk2ply.cpp 2013-08-21 21:53:16.847738110 +0000
 549 @@ -77,12 +77,12 @@ main (int argc, char** argv)
 550    vtkSmartPointer<vtkPolyDataReader> reader = vtkSmartPointer<vtkPolyDataReader>::New ();
 551    reader->SetFileName (argv[vtk_file_indices[0]]);
 552    polydata = reader->GetOutput ();
 553 -  polydata->Update ();
 554 +  reader->Update ();
 555    print_info ("Loaded %s with %zu points/vertices.\n", argv[vtk_file_indices[0]], polydata->GetNumberOfPoints ());
 556
 557    // Convert to PLY and save
 558    vtkSmartPointer<vtkPLYWriter> writer = vtkSmartPointer<vtkPLYWriter>::New ();
 559 -  writer->SetInput (polydata);
 560 +  writer->SetInputData (polydata);
 561    writer->SetArrayName ("Colors");
 562    writer->SetFileTypeToASCII ();
 563    writer->SetFileName (argv[ply_file_indices[0]]);
 564 diff -up ./visualization/CMakeLists.txt.vtk6 ./visualization/CMakeLists.txt
 565 --- ./visualization/CMakeLists.txt.vtk6 2013-08-21 02:43:15.375525780 +0000
 566 +++ ./visualization/CMakeLists.txt      2013-08-21 02:57:55.536733573 +0000
 567 @@ -152,8 +152,12 @@ if(build)
 568
 569      if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "5.6")
 570        target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
 571 -    else()
 572 +    elseif(${VTK_MAJOR_VERSION} LESS 6)
 573        target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkCharts vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
 574 +    elseif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "6.1")
 575 +      target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_kdtree vtkCommonCore vtkChartsCore vtkInteractionStyle vtkImagingSources vtkRenderingCore vtkRenderingContext2D vtkRenderingAnnotation vtkRenderingLOD vtkRenderingVolume vtkRenderingOpenGL vtkRenderingVolumeOpenGL vtkRenderingFreeType vtkRenderingFreeTypeOpenGL vtkInteractionWidgets vtkFiltersStatistics vtkFiltersStatisticsGnuR vtkViewsContext2D ${OPENGL_LIBRARIES})
 576 +    else()
 577 +      target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_kdtree vtkCommonCore vtkChartsCore vtkInteractionStyle vtkImagingSources vtkRenderingCore vtkRenderingContext2D vtkRenderingAnnotation vtkRenderingLOD vtkRenderingVolume vtkRenderingOpenGL vtkRenderingVolumeOpenGL vtkRenderingFreeType vtkRenderingFreeTypeOpenGL vtkRenderingFreeTypeFontConfig vtkRenderingMatplotlib vtkInteractionWidgets vtkFiltersStatistics vtkFiltersStatisticsGnuR vtkFiltersExtraction vtkViewsContext2D ${OPENGL_LIBRARIES})
 578      endif()
 579
 580      set(EXT_DEPS "")
 581 diff -up ./visualization/include/pcl/visualization/common/impl/shapes.hpp.vtk6 ./visualization/include/pcl/visualization/common/impl/shapes.hpp
 582 --- ./visualization/include/pcl/visualization/common/impl/shapes.hpp.vtk6       2013-08-21 01:44:28.135763915 +0000
 583 +++ ./visualization/include/pcl/visualization/common/impl/shapes.hpp    2013-08-21 01:52:43.507042740 +0000
 584 @@ -67,7 +67,7 @@ pcl::visualization::createPolygon (const
 585    poly_grid->Allocate (1, 1);
 586    poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
 587    poly_grid->SetPoints (poly_points);
 588 -  poly_grid->Update ();
 589 +  //poly_grid->Update ();
 590
 591    return (poly_grid);
 592  }
 593 @@ -104,7 +104,7 @@ pcl::visualization::createPolygon (const
 594    poly_grid->Allocate (1, 1);
 595    poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
 596    poly_grid->SetPoints (poly_points);
 597 -  poly_grid->Update ();
 598 +  //poly_grid->Update ();
 599
 600    return (poly_grid);
 601  }
 602 diff -up ./visualization/include/pcl/visualization/image_viewer.h.vtk6 ./visualization/include/pcl/visualization/image_viewer.h
 603 --- ./visualization/include/pcl/visualization/image_viewer.h.vtk6       2013-08-21 23:11:02.627949762 +0000
 604 +++ ./visualization/include/pcl/visualization/image_viewer.h    2013-08-21 02:29:21.229120143 +0000
 605 @@ -952,7 +952,7 @@ namespace pcl
 606          /** \brief The renderer. */
 607          vtkSmartPointer<vtkRenderer> ren_;
 608
 609 -#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
 610 +#if (((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10)) || (VTK_MAJOR_VERSION > 5))
 611          /** \brief Global prop. This is the actual "actor". */
 612          vtkSmartPointer<vtkImageSlice> slice_;
 613  #endif
 614 diff -up ./visualization/include/pcl/visualization/impl/image_viewer.hpp.vtk6 ./visualization/include/pcl/visualization/impl/image_viewer.hpp
 615 --- ./visualization/include/pcl/visualization/impl/image_viewer.hpp.vtk6        2013-08-21 02:22:42.987745331 +0000
 616 +++ ./visualization/include/pcl/visualization/impl/image_viewer.hpp     2013-08-21 02:23:08.182278421 +0000
 617 @@ -435,9 +435,7 @@ pcl::visualization::ImageViewer::showCor
 618
 619    vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
 620    image->SetDimensions (source_img.width + target_img.width, std::max (source_img.height, target_img.height), 1);
 621 -  image->SetScalarTypeToUnsignedChar ();
 622 -  image->SetNumberOfScalarComponents (3);
 623 -  image->AllocateScalars ();
 624 +  image->AllocateScalars (VTK_UNSIGNED_CHAR, 3);
 625    image->GetPointData ()->GetScalars ()->SetVoidArray (data, data_size_, 1);
 626    vtkSmartPointer<PCLContextImageItem> image_item = vtkSmartPointer<PCLContextImageItem>::New ();
 627  #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
 628 diff -up ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp.vtk6 ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
 629 --- ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp.vtk6      2013-08-21 01:53:19.555789272 +0000
 630 +++ ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp   2013-08-21 02:15:15.723273700 +0000
 631 @@ -322,13 +322,13 @@ pcl::visualization::PCLVisualizer::addPo
 632      vtkSmartPointer<vtkAppendPolyData> all_data = vtkSmartPointer<vtkAppendPolyData>::New ();
 633
 634      // Add old data
 635 -    all_data->AddInput (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
 636 +    all_data->AddInputData (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
 637
 638      // Add new data
 639      vtkSmartPointer<vtkDataSetSurfaceFilter> surface_filter = vtkSmartPointer<vtkDataSetSurfaceFilter>::New ();
 640 -    surface_filter->SetInput (vtkUnstructuredGrid::SafeDownCast (data));
 641 +    surface_filter->SetInputData (vtkUnstructuredGrid::SafeDownCast (data));
 642      vtkSmartPointer<vtkPolyData> poly_data = surface_filter->GetOutput ();
 643 -    all_data->AddInput (poly_data);
 644 +    all_data->AddInputData (poly_data);
 645
 646      // Create an Actor
 647      vtkSmartPointer<vtkActor> actor;
 648 @@ -376,13 +376,13 @@ pcl::visualization::PCLVisualizer::addPo
 649      vtkSmartPointer<vtkAppendPolyData> all_data = vtkSmartPointer<vtkAppendPolyData>::New ();
 650
 651      // Add old data
 652 -    all_data->AddInput (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
 653 +    all_data->AddInputData (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
 654
 655      // Add new data
 656      vtkSmartPointer<vtkDataSetSurfaceFilter> surface_filter = vtkSmartPointer<vtkDataSetSurfaceFilter>::New ();
 657 -    surface_filter->SetInput (vtkUnstructuredGrid::SafeDownCast (data));
 658 +    surface_filter->SetInputData (vtkUnstructuredGrid::SafeDownCast (data));
 659      vtkSmartPointer<vtkPolyData> poly_data = surface_filter->GetOutput ();
 660 -    all_data->AddInput (poly_data);
 661 +    all_data->AddInputData (poly_data);
 662
 663      // Create an Actor
 664      vtkSmartPointer<vtkActor> actor;
 665 @@ -613,7 +613,7 @@ pcl::visualization::PCLVisualizer::updat
 666    //////////////////////////////////////////////////////////////////////////
 667    // Get the actor pointer
 668    vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
 669 -  vtkAlgorithm *algo = actor->GetMapper ()->GetInput ()->GetProducerPort ()->GetProducer ();
 670 +  vtkAlgorithm *algo = actor->GetMapper ()->GetInput ();
 671    vtkSphereSource *src = vtkSphereSource::SafeDownCast (algo);
 672
 673    src->SetCenter (double (center.x), double (center.y), double (center.z));
 674 @@ -796,7 +796,7 @@ pcl::visualization::PCLVisualizer::addPo
 675    polyData->SetLines (lines);
 676
 677    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 678 -  mapper->SetInput (polyData);
 679 +  mapper->SetInputData (polyData);
 680    mapper->SetColorModeToMapScalars();
 681    mapper->SetScalarModeToUsePointData();
 682
 683 @@ -871,7 +871,7 @@ pcl::visualization::PCLVisualizer::addPo
 684    polyData->SetLines(lines);
 685
 686    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
 687 -  mapper->SetInput (polyData);
 688 +  mapper->SetInputData (polyData);
 689    mapper->SetColorModeToMapScalars();
 690    mapper->SetScalarModeToUsePointData();
 691
 692 @@ -970,7 +970,7 @@ pcl::visualization::PCLVisualizer::addCo
 693    line_data->SetLines (line_cells);
 694    line_data->GetPointData ()->SetTCoords (line_tcoords);
 695    line_data->GetCellData ()->SetScalars (line_colors);
 696 -  line_data->Update ();
 697 +  //line_data->Update ();
 698
 699    // Create an Actor
 700    vtkSmartPointer<vtkLODActor> actor;
 701 @@ -1075,7 +1075,7 @@ pcl::visualization::PCLVisualizer::addCo
 702    line_data->SetLines (line_cells);
 703    line_data->GetPointData ()->SetTCoords (line_tcoords);
 704    line_data->GetCellData ()->SetScalars (line_colors);
 705 -  line_data->Update ();
 706 +  //line_data->Update ();
 707
 708    // Create an Actor
 709    vtkSmartPointer<vtkLODActor> actor;
 710 @@ -1178,10 +1178,10 @@ pcl::visualization::PCLVisualizer::updat
 711    line_data->SetLines (line_cells);
 712    line_data->GetPointData ()->SetTCoords (line_tcoords);
 713    line_data->GetCellData ()->SetScalars (line_colors);
 714 -  line_data->Update ();
 715 +  //line_data->Update ();
 716
 717    // Update the mapper
 718 -  reinterpret_cast<vtkPolyDataMapper*>(actor->GetMapper ())->SetInput (line_data);
 719 +  reinterpret_cast<vtkPolyDataMapper*>(actor->GetMapper ())->SetInputData (line_data);
 720
 721    return (true);
 722  }
 723 @@ -1213,7 +1213,7 @@ pcl::visualization::PCLVisualizer::fromH
 724    // Convert the PointCloud to VTK PolyData
 725    convertPointCloudToVTKPolyData<PointT> (geometry_handler, polydata, initcells);
 726    // use the given geometry handler
 727 -  polydata->Update ();
 728 +  //polydata->Update ();
 729
 730    // Get the colors from the handler
 731    bool has_colors = false;
 732 @@ -1277,7 +1277,7 @@ pcl::visualization::PCLVisualizer::fromH
 733    // Convert the PointCloud to VTK PolyData
 734    convertPointCloudToVTKPolyData<PointT> (geometry_handler, polydata, initcells);
 735    // use the given geometry handler
 736 -  polydata->Update ();
 737 +  //polydata->Update ();
 738
 739    // Get the colors from the handler
 740    bool has_colors = false;
 741 @@ -1342,7 +1342,7 @@ pcl::visualization::PCLVisualizer::fromH
 742    // Convert the PointCloud to VTK PolyData
 743    convertPointCloudToVTKPolyData (geometry_handler, polydata, initcells);
 744    // use the given geometry handler
 745 -  polydata->Update ();
 746 +  //polydata->Update ();
 747
 748    // Get the colors from the handler
 749    bool has_colors = false;
 750 @@ -1394,12 +1394,12 @@ pcl::visualization::PCLVisualizer::updat
 751    vtkSmartPointer<vtkPolyData> polydata = reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->GetInput ();
 752    // Convert the PointCloud to VTK PolyData
 753    convertPointCloudToVTKPolyData<PointT> (cloud, polydata, am_it->second.cells);
 754 -  polydata->Update ();
 755 +  //polydata->Update ();
 756
 757    // Set scalars to blank, since there is no way we can update them here.
 758    vtkSmartPointer<vtkDataArray> scalars;
 759    polydata->GetPointData ()->SetScalars (scalars);
 760 -  polydata->Update ();
 761 +  //polydata->Update ();
 762    double minmax[2];
 763    minmax[0] = std::numeric_limits<double>::min ();
 764    minmax[1] = std::numeric_limits<double>::max ();
 765 @@ -1407,7 +1407,7 @@ pcl::visualization::PCLVisualizer::updat
 766    am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
 767
 768    // Update the mapper
 769 -  reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
 770 +  reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInputData (polydata);
 771    return (true);
 772  }
 773
 774 @@ -1432,7 +1432,7 @@ pcl::visualization::PCLVisualizer::updat
 775    // Set scalars to blank, since there is no way we can update them here.
 776    vtkSmartPointer<vtkDataArray> scalars;
 777    polydata->GetPointData ()->SetScalars (scalars);
 778 -  polydata->Update ();
 779 +  //polydata->Update ();
 780    double minmax[2];
 781    minmax[0] = std::numeric_limits<double>::min ();
 782    minmax[1] = std::numeric_limits<double>::max ();
 783 @@ -1440,7 +1440,7 @@ pcl::visualization::PCLVisualizer::updat
 784    am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
 785
 786    // Update the mapper
 787 -  reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
 788 +  reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInputData (polydata);
 789    return (true);
 790  }
 791
 792 @@ -1507,13 +1507,13 @@ pcl::visualization::PCLVisualizer::updat
 793    scalars->GetRange (minmax);
 794    // Update the data
 795    polydata->GetPointData ()->SetScalars (scalars);
 796 -  polydata->Update ();
 797 +  //polydata->Update ();
 798
 799    am_it->second.actor->GetMapper ()->ImmediateModeRenderingOff ();
 800    am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
 801
 802    // Update the mapper
 803 -  reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
 804 +  reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInputData (polydata);
 805    return (true);
 806  }
 807
 808 @@ -1668,7 +1668,7 @@ pcl::visualization::PCLVisualizer::addPo
 809      poly_grid->Allocate (1, 1);
 810      poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
 811      poly_grid->SetPoints (points);
 812 -    poly_grid->Update ();
 813 +    //poly_grid->Update ();
 814      if (colors)
 815        poly_grid->GetPointData ()->SetScalars (colors);
 816
 817 @@ -1813,7 +1813,7 @@ pcl::visualization::PCLVisualizer::updat
 818    cells->Squeeze ();
 819    // Set the the vertices
 820    polydata->SetStrips (cells);
 821 -  polydata->Update ();
 822 +  //polydata->Update ();
 823
 824    return (true);
 825  }
 826 diff -up ./visualization/src/.vtk6 ./visualization/src/
 827 diff -up ./visualization/src/common/io.cpp.vtk6 ./visualization/src/common/io.cpp
 828 --- ./visualization/src/common/io.cpp.vtk6      2013-07-23 17:21:02.000000000 +0000
 829 +++ ./visualization/src/common/io.cpp   2013-08-21 00:45:59.010844800 +0000
 830 @@ -89,7 +89,7 @@ pcl::visualization::savePointData (vtkPo
 831    // Clean the data (no duplicates!)
 832    vtkSmartPointer<vtkCleanPolyData> cleaner = vtkSmartPointer<vtkCleanPolyData>::New ();
 833    cleaner->SetTolerance (0.0);
 834 -  cleaner->SetInput (data);
 835 +  cleaner->SetInputData (data);
 836    cleaner->ConvertLinesToPointsOff ();
 837    cleaner->ConvertPolysToLinesOff ();
 838    cleaner->ConvertStripsToPolysOff ();
 839 diff -up ./visualization/src/common/shapes.cpp.vtk6 ./visualization/src/common/shapes.cpp
 840 --- ./visualization/src/common/shapes.cpp.vtk6  2013-07-23 17:21:02.000000000 +0000
 841 +++ ./visualization/src/common/shapes.cpp       2013-08-21 00:45:59.010844800 +0000
 842 @@ -224,7 +224,7 @@ pcl::visualization::create2DCircle (cons
 843    circle->SetNumberOfSides (100);
 844
 845    vtkSmartPointer<vtkTubeFilter> tube = vtkSmartPointer<vtkTubeFilter>::New();
 846 -  tube->SetInput (circle->GetOutput());
 847 +  tube->SetInputConnection (circle->GetOutputPort());
 848    tube->SetNumberOfSides (25);
 849    tube->SetRadius (0.001);
 850    */
 851 diff -up ./visualization/src/histogram_visualizer.cpp.vtk6 ./visualization/src/histogram_visualizer.cpp
 852 --- ./visualization/src/histogram_visualizer.cpp.vtk6   2013-08-21 02:18:27.494336735 +0000
 853 +++ ./visualization/src/histogram_visualizer.cpp        2013-08-21 02:22:29.553461057 +0000
 854 @@ -260,7 +260,7 @@ pcl::visualization::PCLHistogramVisualiz
 855      const vtkSmartPointer<vtkDoubleArray> &xy_array, RenWinInteract* renwinupd, const int hsize)
 856  {
 857    renwinupd->ren_->RemoveActor2D (renwinupd->xy_plot_);
 858 -  renwinupd->xy_plot_->RemoveAllInputs ();
 859 +  renwinupd->xy_plot_->RemoveAllDataSetInputConnections ();
 860
 861    double min_max[2];
 862    xy_array->GetRange (min_max, 1);
 863 diff -up ./visualization/src/image_viewer.cpp.vtk6 ./visualization/src/image_viewer.cpp
 864 --- ./visualization/src/image_viewer.cpp.vtk6   2013-08-21 02:24:01.801412800 +0000
 865 +++ ./visualization/src/image_viewer.cpp        2013-08-21 02:31:50.889239852 +0000
 866 @@ -37,6 +37,8 @@
 867   */
 868
 869  #include <vtkImageViewer.h>
 870 +#include <vtkImageSlice.h>
 871 +#include <vtkImageSliceMapper.h>
 872  #include <vtkCallbackCommand.h>
 873  #include <vtkRenderer.h>
 874  #include <vtkCamera.h>
 875 @@ -117,7 +119,7 @@ pcl::visualization::ImageViewer::ImageVi
 876
 877    vtkSmartPointer<vtkImageData> empty_image = vtkSmartPointer<vtkImageData>::New ();
 878    vtkSmartPointer<vtkImageSliceMapper> map = vtkSmartPointer<vtkImageSliceMapper>::New ();
 879 -  map->SetInput (empty_image);
 880 +  map->SetInputData (empty_image);
 881    slice_->SetMapper (map);
 882    ren_->AddViewProp (slice_);
 883    interactor_->SetInteractorStyle (interactor_style_);
 884 @@ -180,9 +182,7 @@ pcl::visualization::ImageViewer::addRGBI
 885
 886    vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
 887    image->SetExtent (0, width - 1, 0, height - 1, 0, 0);
 888 -  image->SetScalarTypeToUnsignedChar ();
 889 -  image->SetNumberOfScalarComponents (3);
 890 -  image->AllocateScalars ();
 891 +  image->AllocateScalars (VTK_UNSIGNED_CHAR, 3);
 892    image->GetPointData ()->GetScalars ()->SetVoidArray (data, 3 * width * height, 1);
 893  #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
 894    // Now create filter and set previously created transformation
 895 @@ -231,9 +231,7 @@ pcl::visualization::ImageViewer::addMono
 896
 897    vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
 898    image->SetExtent (0, width - 1, 0, height - 1, 0, 0);
 899 -  image->SetScalarTypeToUnsignedChar ();
 900 -  image->SetNumberOfScalarComponents (1);
 901 -  image->AllocateScalars ();
 902 +  image->AllocateScalars (VTK_UNSIGNED_CHAR, 1);
 903    image->GetPointData ()->GetScalars ()->SetVoidArray (data, width * height, 1);
 904
 905  #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
 906 diff -up ./visualization/src/interactor_style.cpp.vtk6 ./visualization/src/interactor_style.cpp
 907 --- ./visualization/src/interactor_style.cpp.vtk6       2013-08-21 01:15:47.308900484 +0000
 908 +++ ./visualization/src/interactor_style.cpp    2013-08-21 01:18:42.048639938 +0000
 909 @@ -357,7 +357,7 @@ pcl::visualization::PCLVisualizerInterac
 910          else
 911          {
 912            vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
 913 -          mapper->SetInput (data);
 914 +          mapper->SetInputData (data);
 915            // Modify the actor
 916            act->actor->SetMapper (mapper);
 917          }
 918 @@ -386,7 +386,7 @@ pcl::visualization::PCLVisualizerInterac
 919          // Update the data
 920          vtkPolyData *data = static_cast<vtkPolyData*>(act->actor->GetMapper ()->GetInput ());
 921          data->GetPointData ()->SetScalars (scalars);
 922 -        data->Update ();
 923 +        //data->Update ();
 924          // Modify the mapper
 925          if (use_vbos_)
 926          {
 927 @@ -402,7 +402,7 @@ pcl::visualization::PCLVisualizerInterac
 928            vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
 929            mapper->SetScalarRange (minmax);
 930            mapper->SetScalarModeToUsePointData ();
 931 -          mapper->SetInput (data);
 932 +          mapper->SetInputData (data);
 933            // Modify the actor
 934            act->actor->SetMapper (mapper);
 935          }
 936 diff -up ./visualization/src/pcl_plotter.cpp.vtk6 ./visualization/src/pcl_plotter.cpp
 937 --- ./visualization/src/pcl_plotter.cpp.vtk6    2013-08-21 02:42:40.584799051 +0000
 938 +++ ./visualization/src/pcl_plotter.cpp 2013-08-21 02:42:56.513131764 +0000
 939 @@ -120,7 +120,7 @@ pcl::visualization::PCLPlotter::addPlotD
 940    //adding to chart
 941    //vtkPlot *line = chart_->AddPlot(vtkChart::LINE);
 942    vtkPlot *line = chart_->AddPlot (type);
 943 -  line->SetInput (table, 0, 1);
 944 +  line->SetInputData (table, 0, 1);
 945    line->SetWidth (1);
 946
 947    if (color == NULL)    //color automatically based on the ColorScheme
 948 diff -up ./visualization/src/pcl_visualizer.cpp.vtk6 ./visualization/src/pcl_visualizer.cpp
 949 --- ./visualization/src/pcl_visualizer.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
 950 +++ ./visualization/src/pcl_visualizer.cpp      2013-08-21 02:18:07.410911372 +0000
 951 @@ -508,17 +508,17 @@ pcl::visualization::PCLVisualizer::addCo
 952    axes_colors->InsertNextValue (1.0);
 953
 954    vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
 955 -  axes_data->Update ();
 956 +  axes->Update ();
 957    axes_data->GetPointData ()->SetScalars (axes_colors);
 958
 959    vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
 960 -  axes_tubes->SetInput (axes_data);
 961 +  axes_tubes->SetInputData (axes_data);
 962    axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
 963    axes_tubes->SetNumberOfSides (6);
 964
 965    vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
 966    axes_mapper->SetScalarModeToUsePointData ();
 967 -  axes_mapper->SetInput (axes_tubes->GetOutput ());
 968 +  axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
 969
 970    vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
 971    axes_actor->SetMapper (axes_mapper);
 972 @@ -547,17 +547,17 @@ pcl::visualization::PCLVisualizer::addCo
 973    axes_colors->InsertNextValue (1.0);
 974
 975    vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
 976 -  axes_data->Update ();
 977 +  axes->Update ();
 978    axes_data->GetPointData ()->SetScalars (axes_colors);
 979
 980    vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
 981 -  axes_tubes->SetInput (axes_data);
 982 +  axes_tubes->SetInputData (axes_data);
 983    axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
 984    axes_tubes->SetNumberOfSides (6);
 985
 986    vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
 987    axes_mapper->SetScalarModeToUsePointData ();
 988 -  axes_mapper->SetInput (axes_tubes->GetOutput ());
 989 +  axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
 990
 991    vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
 992    axes_actor->SetMapper (axes_mapper);
 993 @@ -617,17 +617,17 @@ pcl::visualization::PCLVisualizer::addCo
 994    axes_colors->InsertNextValue (1.0);
 995
 996    vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
 997 -  axes_data->Update ();
 998 +  axes->Update ();
 999    axes_data->GetPointData ()->SetScalars (axes_colors);
1000
1001    vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
1002 -  axes_tubes->SetInput (axes_data);
1003 +  axes_tubes->SetInputData (axes_data);
1004    axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
1005    axes_tubes->SetNumberOfSides (6);
1006
1007    vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
1008    axes_mapper->SetScalarModeToUsePointData ();
1009 -  axes_mapper->SetInput (axes_tubes->GetOutput ());
1010 +  axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
1011
1012    vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
1013    axes_actor->SetMapper (axes_mapper);
1014 @@ -835,7 +835,7 @@ pcl::visualization::PCLVisualizer::addPo
1015      line_1->SetPoint1 (cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
1016      line_1->SetPoint2 (p.x, p.y, p.z);
1017      line_1->Update ();
1018 -    polydata_1->AddInput (line_1->GetOutput ());
1019 +    polydata_1->AddInputData (line_1->GetOutput ());
1020      line_1_colors->InsertNextTupleValue (green);
1021    }
1022    polydata_1->Update ();
1023 @@ -862,7 +862,7 @@ pcl::visualization::PCLVisualizer::addPo
1024      line_2->SetPoint1 (cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
1025      line_2->SetPoint2 (p.x, p.y, p.z);
1026      line_2->Update ();
1027 -    polydata_2->AddInput (line_2->GetOutput ());
1028 +    polydata_2->AddInputData (line_2->GetOutput ());
1029      line_2_colors->InsertNextTupleValue (blue);
1030    }
1031    polydata_2->Update ();
1032 @@ -871,8 +871,8 @@ pcl::visualization::PCLVisualizer::addPo
1033
1034    // Assemble the two sets of lines
1035    vtkSmartPointer<vtkAppendPolyData> alldata = vtkSmartPointer<vtkAppendPolyData>::New ();
1036 -  alldata->AddInput (line_1_data);
1037 -  alldata->AddInput (line_2_data);
1038 +  alldata->AddInputData (line_1_data);
1039 +  alldata->AddInputData (line_2_data);
1040
1041    // Create an Actor
1042    vtkSmartPointer<vtkLODActor> actor;
1043 @@ -1094,7 +1094,7 @@ pcl::visualization::PCLVisualizer::creat
1044    else
1045    {
1046      vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
1047 -    mapper->SetInput (data);
1048 +    mapper->SetInputData (data);
1049
1050      if (use_scalars)
1051      {
1052 @@ -1168,7 +1168,7 @@ pcl::visualization::PCLVisualizer::creat
1053    else
1054    {
1055      vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
1056 -    mapper->SetInput (data);
1057 +    mapper->SetInputData (data);
1058
1059      if (use_scalars)
1060      {
1061 @@ -1548,9 +1548,9 @@ pcl::visualization::PCLVisualizer::setSh
1062            {
1063              PCL_INFO ("[pcl::visualization::PCLVisualizer::setShapeRenderingProperties] Normals do not exist in the dataset, but Gouraud shading was requested. Estimating normals...\n");
1064              vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
1065 -            normals->SetInput (actor->GetMapper ()->GetInput ());
1066 +            normals->SetInputData (actor->GetMapper ()->GetInput ());
1067              normals->Update ();
1068 -            vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
1069 +            vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInputData (normals->GetOutput ());
1070            }
1071            actor->GetProperty ()->SetInterpolationToGouraud ();
1072            break;
1073 @@ -1561,9 +1561,9 @@ pcl::visualization::PCLVisualizer::setSh
1074            {
1075              PCL_INFO ("[pcl::visualization::PCLVisualizer::setShapeRenderingProperties] Normals do not exist in the dataset, but Phong shading was requested. Estimating normals...\n");
1076              vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
1077 -            normals->SetInput (actor->GetMapper ()->GetInput ());
1078 +            normals->SetInputData (actor->GetMapper ()->GetInput() );
1079              normals->Update ();
1080 -            vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
1081 +            vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInputData (normals->GetOutput ());
1082            }
1083            actor->GetProperty ()->SetInterpolationToPhong ();
1084            break;
1085 @@ -2277,7 +2277,7 @@ pcl::visualization::PCLVisualizer::addMo
1086
1087    vtkSmartPointer <vtkTransformFilter> trans_filter = vtkSmartPointer<vtkTransformFilter>::New ();
1088    trans_filter->SetTransform (transform);
1089 -  trans_filter->SetInput (polydata);
1090 +  trans_filter->SetInputData (polydata);
1091    trans_filter->Update();
1092
1093    // Create an Actor
1094 @@ -2751,7 +2751,7 @@ pcl::visualization::PCLVisualizer::updat
1095    // Update the data
1096    vtkPolyData *data = static_cast<vtkPolyData*>(am_it->second.actor->GetMapper ()->GetInput ());
1097    data->GetPointData ()->SetScalars (scalars);
1098 -  data->Update ();
1099 +  //color_handler->Update ();
1100    // Modify the mapper
1101    if (use_vbos_)
1102    {
1103 @@ -2771,7 +2771,7 @@ pcl::visualization::PCLVisualizer::updat
1104      vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ());
1105      mapper->SetScalarRange (minmax);
1106      mapper->SetScalarModeToUsePointData ();
1107 -    mapper->SetInput (data);
1108 +    mapper->SetInputData (data);
1109      // Modify the actor
1110      am_it->second.actor->SetMapper (mapper);
1111      am_it->second.actor->Modified ();
1112 @@ -2876,7 +2876,7 @@ pcl::visualization::PCLVisualizer::addPo
1113      poly_grid->Allocate (1, 1);
1114      poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
1115      poly_grid->SetPoints (poly_points);
1116 -    poly_grid->Update ();
1117 +    //poly_grid->Update ();
1118
1119      createActorFromVTKDataSet (poly_grid, actor);
1120      actor->GetProperty ()->SetRepresentationToWireframe ();
1121 @@ -3001,7 +3001,7 @@ pcl::visualization::PCLVisualizer::updat
1122    cells->Squeeze ();
1123    // Set the the vertices
1124    polydata->SetStrips (cells);
1125 -  polydata->Update ();
1126 +  //polydata->Update ();
1127
1128    return (true);
1129  }
1130 @@ -3056,7 +3056,7 @@ pcl::visualization::PCLVisualizer::addPo
1131
1132    // Setup actor and mapper
1133    vtkSmartPointer < vtkPolyDataMapper > mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
1134 -  mapper->SetInput (polyData);
1135 +  mapper->SetInputData(polyData);
1136
1137    vtkSmartPointer < vtkActor > actor = vtkSmartPointer<vtkActor>::New ();
1138    actor->SetMapper (mapper);
1139 @@ -3197,7 +3197,7 @@ pcl::visualization::PCLVisualizer::rende
1140
1141    vtkSmartPointer<vtkTransformFilter> trans_filter_center = vtkSmartPointer<vtkTransformFilter>::New ();
1142    trans_filter_center->SetTransform (trans_center);
1143 -  trans_filter_center->SetInput (polydata);
1144 +  trans_filter_center->SetInputData (polydata);
1145    trans_filter_center->Update ();
1146
1147    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
1148 @@ -3252,7 +3252,7 @@ pcl::visualization::PCLVisualizer::rende
1149
1150    // Get camera positions
1151    vtkPolyData *sphere = subdivide->GetOutput ();
1152 -  sphere->Update ();
1153 +  subdivide->Update ();
1154
1155    std::vector<Eigen::Vector3f> cam_positions;
1156    if (!use_vertices)
1157 @@ -3679,7 +3679,7 @@ pcl::visualization::PCLVisualizer::fromH
1158    // Convert the PointCloud to VTK PolyData
1159    convertPointCloudToVTKPolyData (geometry_handler, polydata, initcells);
1160    // use the given geometry handler
1161 -  polydata->Update ();
1162 +  //polydata->Update ();
1163
1164    // Get the colors from the handler
1165    bool has_colors = false;
1166 diff -up ./visualization/src/vtk/vtkVertexBufferObjectMapper.cxx.vtk6 ./visualization/src/vtk/vtkVertexBufferObjectMapper.cxx
1167 --- ./visualization/src/vtk/vtkVertexBufferObjectMapper.cxx.vtk6        2013-08-21 02:32:51.027493881 +0000
1168 +++ ./visualization/src/vtk/vtkVertexBufferObjectMapper.cxx     2013-08-21 02:42:30.140580897 +0000
1169 @@ -146,7 +146,7 @@ void vtkVertexBufferObjectMapper::SetInp
1170  //  std::cout << "SetInput" << endl;
1171    if(input)
1172    {
1173 -    this->SetInputConnection(0, input->GetProducerPort());
1174 +    this->SetInput(input);
1175    }
1176    else
1177    {
1178 @@ -162,7 +162,7 @@ void vtkVertexBufferObjectMapper::SetInp
1179  //  std::cout << "SetInput" << endl;
1180    if(input)
1181    {
1182 -    this->SetInputConnection(0, input->GetProducerPort());
1183 +    this->SetInput(input);
1184    }
1185    else
1186    {