[packages/pcl.git] / vtkOpenGL2.patch

From d0efc67fa0d5f3fb3fb99990a6b2a1967a93c229 Mon Sep 17 00:00:00 2001
From: Sergey Alexandrov <alexandrov88@gmail.com>
Date: Sat, 13 Feb 2016 13:31:54 +0100
Subject: [PATCH] Add CMake variable and C++ macro
 VTK_RENDERING_BACKEND_OPENGL_VERSION

These can be used at configuration and compilation times to adjust for
the currently used backend.
---
 CMakeLists.txt  | 12 +++++++++++-
 pcl_config.h.in |  4 ++++
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 36fc4c9..e5fd763 100644
--- a/CMakeLists.txt
+++ b/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)
diff --git a/pcl_config.h.in b/pcl_config.h.in
index e4b10b0..3c25a06 100644
--- a/pcl_config.h.in
+++ b/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}
+
From 9cfb00970f7d46f1732149d4c50ba3646f038b6c Mon Sep 17 00:00:00 2001
From: Sergey Alexandrov <alexandrov88@gmail.com>
Date: Thu, 11 Feb 2016 22:19:01 +0100
Subject: [PATCH] Use vtkTextureUnitManager to query the number of available
 texture units

The new OpenGL2 backend does not have vktOpenGLHardwareSupport class
which was used before.
---
 visualization/src/pcl_visualizer.cpp | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index dc91674..007c251 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/visualization/src/pcl_visualizer.cpp
@@ -84,7 +84,6 @@
 #include <vtkRenderWindowInteractor.h>
 #include <vtkAreaPicker.h>
 #include <vtkXYPlotActor.h>
-#include <vtkOpenGLHardwareSupport.h>
 #include <vtkOpenGLRenderWindow.h>
 #include <vtkJPEGReader.h>
 #include <vtkBMPReader.h>
@@ -92,6 +91,7 @@
 #include <vtkPNMReader.h>
 #include <vtkPNGReader.h>
 #include <vtkTIFFReader.h>
+#include <vtkTextureUnitManager.h>
 
 #include <pcl/visualization/common/shapes.h>
 #include <pcl/visualization/pcl_visualizer.h>
@@ -3223,17 +3223,18 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
 #endif
 
   vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
-  vtkOpenGLHardwareSupport* hardware = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetHardwareSupport ();
+  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 +3278,7 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
   } // end of multi texturing
   else
   {
-    if (!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");
 
From c50c65b042828cfa18765eef7876f896a40a6d1b Mon Sep 17 00:00:00 2001
From: Sergey Alexandrov <alexandrov88@gmail.com>
Date: Sat, 13 Feb 2016 13:59:47 +0100
Subject: [PATCH] Conditionally compile code that uses
 vtkVertexBufferObjectMapper

This mapper is a performance optimization that is only needed when
OpenGL backend is used. The modern OpenGL2 backend uses vertex buffer
objects transparently for us.
---
 outofcore/src/visualization/outofcore_cloud.cpp | 14 ++++++++++++--
 visualization/CMakeLists.txt                    | 18 ++++++++++++++----
 visualization/src/interactor_style.cpp          |  6 ++++++
 visualization/src/pcl_visualizer.cpp            | 15 ++++++++++++++-
 4 files changed, 46 insertions(+), 7 deletions(-)

diff --git a/outofcore/src/visualization/outofcore_cloud.cpp b/outofcore/src/visualization/outofcore_cloud.cpp
index eaf490c..b08d30e 100644
--- a/outofcore/src/visualization/outofcore_cloud.cpp
+++ b/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);
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index 26bfd7c..940fc8e 100644
--- a/visualization/CMakeLists.txt
+++ b/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
diff --git a/visualization/src/interactor_style.cpp b/visualization/src/interactor_style.cpp
index 9e9fdaf..f443b6b 100644
--- a/visualization/src/interactor_style.cpp
+++ b/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);
diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
index 007c251..40e516c 100644
--- a/visualization/src/pcl_visualizer.cpp
+++ b/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>
@@ -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);
@@ -4296,8 +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
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
Commit	Line	Data
d7780b5d JR	1	From d0efc67fa0d5f3fb3fb99990a6b2a1967a93c229 Mon Sep 17 00:00:00 2001
	2	From: Sergey Alexandrov <alexandrov88@gmail.com>
	3	Date: Sat, 13 Feb 2016 13:31:54 +0100
	4	Subject: [PATCH] Add CMake variable and C++ macro
	5	VTK_RENDERING_BACKEND_OPENGL_VERSION
	6
	7	These can be used at configuration and compilation times to adjust for
	8	the currently used backend.
	9	---
	10	CMakeLists.txt \| 12 +++++++++++-
	11	pcl_config.h.in \| 4 ++++
	12	2 files changed, 15 insertions(+), 1 deletion(-)
	13
	14	diff --git a/CMakeLists.txt b/CMakeLists.txt
	15	index 36fc4c9..e5fd763 100644
	16	--- a/CMakeLists.txt
	17	+++ b/CMakeLists.txt
	18	@@ -361,7 +361,12 @@ option(WITH_VTK "Build VTK-Visualizations" TRUE)
	19	if(WITH_VTK AND NOT ANDROID)
	20	find_package(VTK)
	21	if(VTK_FOUND)
	22	- message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}")
	23	+ if(NOT DEFINED VTK_RENDERING_BACKEND)
	24	+ # On old VTK versions this variable does not exist. In this case it is
	25	+ # safe to assume OpenGL backend
	26	+ set(VTK_RENDERING_BACKEND "OpenGL")
	27	+ endif()
	28	+ message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}, rendering backend: ${VTK_RENDERING_BACKEND}")
	29	if (PCL_SHARED_LIBS OR
	30	(NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
	31	set(VTK_FOUND TRUE)
	32	@@ -377,6 +382,11 @@ if(WITH_VTK AND NOT ANDROID)
	33	option (VTK_USE_COCOA "Use Cocoa for VTK render windows" ON)
	34	MARK_AS_ADVANCED (VTK_USE_COCOA)
	35	endif (APPLE)
	36	+ if(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL")
	37	+ set(VTK_RENDERING_BACKEND_OPENGL_VERSION "1")
	38	+ elseif(${VTK_RENDERING_BACKEND} STREQUAL "OpenGL2")
	39	+ set(VTK_RENDERING_BACKEND_OPENGL_VERSION "2")
	40	+ endif()
	41	set(HAVE_VTK ON)
	42	else ()
	43	set(VTK_FOUND OFF)
	44	diff --git a/pcl_config.h.in b/pcl_config.h.in
	45	index e4b10b0..3c25a06 100644
	46	--- a/pcl_config.h.in
	47	+++ b/pcl_config.h.in
	48	@@ -71,3 +71,7 @@
	49	/* Address the cases where on MacOS and OpenGL and GLUT are not frameworks */
	50	#cmakedefine OPENGL_IS_A_FRAMEWORK
	51	#cmakedefine GLUT_IS_A_FRAMEWORK
	52	+
	53	+/* Version of OpenGL used by VTK as rendering backend */
	54	+#define VTK_RENDERING_BACKEND_OPENGL_VERSION ${VTK_RENDERING_BACKEND_OPENGL_VERSION}
	55	+
2b7743ff JR	56	From 9cfb00970f7d46f1732149d4c50ba3646f038b6c Mon Sep 17 00:00:00 2001
	57	From: Sergey Alexandrov <alexandrov88@gmail.com>
	58	Date: Thu, 11 Feb 2016 22:19:01 +0100
	59	Subject: [PATCH] Use vtkTextureUnitManager to query the number of available
	60	texture units
	61
	62	The new OpenGL2 backend does not have vktOpenGLHardwareSupport class
	63	which was used before.
	64	---
	65	visualization/src/pcl_visualizer.cpp \| 15 +++++++--------
	66	1 file changed, 7 insertions(+), 8 deletions(-)
	67
	68	diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
	69	index dc91674..007c251 100644
	70	--- a/visualization/src/pcl_visualizer.cpp
	71	+++ b/visualization/src/pcl_visualizer.cpp
	72	@@ -84,7 +84,6 @@
	73	#include <vtkRenderWindowInteractor.h>
	74	#include <vtkAreaPicker.h>
	75	#include <vtkXYPlotActor.h>
	76	-#include <vtkOpenGLHardwareSupport.h>
	77	#include <vtkOpenGLRenderWindow.h>
	78	#include <vtkJPEGReader.h>
	79	#include <vtkBMPReader.h>
	80	@@ -92,6 +91,7 @@
	81	#include <vtkPNMReader.h>
	82	#include <vtkPNGReader.h>
	83	#include <vtkTIFFReader.h>
	84	+#include <vtkTextureUnitManager.h>
	85
	86	#include <pcl/visualization/common/shapes.h>
	87	#include <pcl/visualization/pcl_visualizer.h>
	88	@@ -3223,17 +3223,18 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
	89	#endif
	90
	91	vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
	92	- vtkOpenGLHardwareSupport* hardware = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetHardwareSupport ();
	93	+ vtkTextureUnitManager* tex_manager = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetTextureUnitManager ();
	94	+ if (!tex_manager)
	95	+ return (false);
	96	- bool supported = hardware->GetSupportsMultiTexturing ();
	97	// Check if hardware support multi texture
	98	- std::size_t texture_units (hardware->GetNumberOfFixedTextureUnits ());
	99	- if ((mesh.tex_materials.size () > 1) && supported && (texture_units > 1))
	100	+ int texture_units = tex_manager->GetNumberOfTextureUnits ();
	101	+ if ((mesh.tex_materials.size () > 1) && (texture_units > 1))
	102	{
	103	if (texture_units < mesh.tex_materials.size ())
	104	PCL_WARN ("[PCLVisualizer::addTextureMesh] GPU texture units %d < mesh textures %d!\n",
	105	texture_units, mesh.tex_materials.size ());
	106	// Load textures
	107	- std::size_t last_tex_id = std::min (mesh.tex_materials.size (), texture_units);
	108	+ std::size_t last_tex_id = std::min (static_cast<int> (mesh.tex_materials.size ()), texture_units);
	109	int tu = vtkProperty::VTK_TEXTURE_UNIT_0;
	110	std::size_t tex_id = 0;
	111	while (tex_id < last_tex_id)
	112	@@ -3279,7 +3278,7 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
	113	} // end of multi texturing
	114	else
	115	{
	116	- if (!supported \|\| texture_units < 2)
	117	+ if ((mesh.tex_materials.size () > 1) && (texture_units < 2))
	118	PCL_WARN ("[PCLVisualizer::addTextureMesh] Your GPU doesn't support multi texturing. "
	119	"Will use first one only!\n");
120
d7780b5d JR	121	From c50c65b042828cfa18765eef7876f896a40a6d1b Mon Sep 17 00:00:00 2001
	122	From: Sergey Alexandrov <alexandrov88@gmail.com>
	123	Date: Sat, 13 Feb 2016 13:59:47 +0100
	124	Subject: [PATCH] Conditionally compile code that uses
	125	vtkVertexBufferObjectMapper
	126
	127	This mapper is a performance optimization that is only needed when
	128	OpenGL backend is used. The modern OpenGL2 backend uses vertex buffer
	129	objects transparently for us.
	130	---
	131	outofcore/src/visualization/outofcore_cloud.cpp \| 14 ++++++++++++--
	132	visualization/CMakeLists.txt \| 18 ++++++++++++++----
	133	visualization/src/interactor_style.cpp \| 6 ++++++
	134	visualization/src/pcl_visualizer.cpp \| 15 ++++++++++++++-
	135	4 files changed, 46 insertions(+), 7 deletions(-)
	136
	137	diff --git a/outofcore/src/visualization/outofcore_cloud.cpp b/outofcore/src/visualization/outofcore_cloud.cpp
	138	index eaf490c..b08d30e 100644
	139	--- a/outofcore/src/visualization/outofcore_cloud.cpp
	140	+++ b/outofcore/src/visualization/outofcore_cloud.cpp
	141	@@ -21,7 +21,10 @@
	142
	143	// PCL - visualziation
	144	#include <pcl/visualization/common/common.h>
	145	+
	146	+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
	147	#include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
	148	+#endif
	149
	150	// VTK
	151	#include <vtkVersion.h>
	152	@@ -251,11 +254,18 @@ OutofcoreCloud::render (vtkRenderer* renderer)
	153	{
	154
	155	vtkSmartPointer<vtkActor> cloud_actor = vtkSmartPointer<vtkActor>::New ();
	156	- vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
	157	-
	158	CloudDataCacheItem *cloud_data_cache_item = &cloud_data_cache.get(pcd_file);
	159
	160	+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
	161	+ vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
	162	mapper->SetInput (cloud_data_cache_item->item);
	163	+#else
	164	+ vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
	165	+ // Usually we choose between SetInput and SetInputData based on VTK version. But OpenGL ≥ 2 automatically
	166	+ // means VTK version is ≥ 6.3
	167	+ mapper->SetInputData (cloud_data_cache_item->item);
	168	+#endif
	169	+
	170	cloud_actor->SetMapper (mapper);
	171	cloud_actor->GetProperty ()->SetColor (0.0, 0.0, 1.0);
	172	cloud_actor->GetProperty ()->SetPointSize (1);
	173	diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
	174	index 26bfd7c..940fc8e 100644
	175	--- a/visualization/CMakeLists.txt
	176	+++ b/visualization/CMakeLists.txt
	177	@@ -50,8 +50,6 @@ if(build)
	178	src/common/float_image_utils.cpp
	179	src/vtk/pcl_image_canvas_source_2d.cpp
	180	src/vtk/pcl_context_item.cpp
	181	- src/vtk/vtkVertexBufferObject.cxx
	182	- src/vtk/vtkVertexBufferObjectMapper.cxx
	183	src/vtk/vtkRenderWindowInteractorFix.cpp
	184	)
185	if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "5.6")
186	@@ -67,6 +65,13 @@ if(build)
187	)
188	endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.6")
189
190	+ if(VTK_RENDERING_BACKEND_OPENGL_VERSION VERSION_LESS 2)
191	+ list(APPEND srcs
192	+ "src/vtk/vtkVertexBufferObject.cxx"
193	+ "src/vtk/vtkVertexBufferObjectMapper.cxx"
194	+ )
195	+ endif()
196	+
197	set(incs
198	"include/pcl/${SUBSYS_NAME}/eigen.h"
199	"include/pcl/${SUBSYS_NAME}/boost.h"
200	@@ -127,11 +132,16 @@ if(build)
201	set(vtk_incs
202	"include/pcl/${SUBSYS_NAME}/vtk/pcl_image_canvas_source_2d.h"
203	"include/pcl/${SUBSYS_NAME}/vtk/pcl_context_item.h"
204	- "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObject.h"
205	"include/pcl/${SUBSYS_NAME}/vtk/vtkRenderWindowInteractorFix.h"
206	- "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObjectMapper.h"
207	)
208
209	+ if(VTK_RENDERING_BACKEND_OPENGL_VERSION VERSION_LESS 2)
210	+ list(APPEND vtk_incs
211	+ "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObject.h"
212	+ "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObjectMapper.h"
213	+ )
214	+ endif()
215	+
216	# on apple, a workaround is used for the cocoa render window interactor
217	if(APPLE)
218	list(APPEND srcs
219	diff --git a/visualization/src/interactor_style.cpp b/visualization/src/interactor_style.cpp
220	index 9e9fdaf..f443b6b 100644
221	--- a/visualization/src/interactor_style.cpp
222	+++ b/visualization/src/interactor_style.cpp
223	@@ -64,7 +64,9 @@
224	#include <vtkPointPicker.h>
225	#include <vtkAreaPicker.h>
226
227	+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
228	#include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
229	+#endif
230
231	#define ORIENT_MODE 0
232	#define SELECT_MODE 1
233	@@ -660,6 +662,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
234	data->SetPoints (points);
235	data->SetVerts (vertices);
236	// Modify the mapper
237	+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
238	if (use_vbos_)
239	{
240	vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(act->actor->GetMapper ());
241	@@ -668,6 +671,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
242	act->actor->SetMapper (mapper);
243	}
244	else
245	+#endif
246	{
247	vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
248	#if VTK_MAJOR_VERSION < 6
249	@@ -704,6 +708,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
250	vtkPolyData data = static_cast<vtkPolyData>(act->actor->GetMapper ()->GetInput ());
251	data->GetPointData ()->SetScalars (scalars);
252	// Modify the mapper
253	+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
254	if (use_vbos_)
255	{
256	vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(act->actor->GetMapper ());
257	@@ -714,6 +719,7 @@ pcl::visualization::PCLVisualizerInteractorStyle::OnKeyDown ()
258	act->actor->SetMapper (mapper);
259	}
260	else
261	+#endif
262	{
263	vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
264	mapper->SetScalarRange (minmax);
265	diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
266	index 007c251..40e516c 100644
267	--- a/visualization/src/pcl_visualizer.cpp
268	+++ b/visualization/src/pcl_visualizer.cpp
269	@@ -63,9 +63,12 @@
270	#include <vtkPointPicker.h>
271
272	#include <pcl/visualization/boost.h>
273	-#include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
274	#include <pcl/visualization/vtk/vtkRenderWindowInteractorFix.h>
275
276	+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
277	+#include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
278	+#endif
279	+
280	#include <vtkPolyLine.h>
281	#include <vtkPolyDataMapper.h>
282	#include <vtkRenderWindow.h>
283	@@ -1079,6 +1082,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
284	if (!actor)
285	actor = vtkSmartPointer<vtkLODActor>::New ();
286
287	+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
288	if (use_vbos_)
289	{
290	vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
291	@@ -1111,6 +1115,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
292	actor->SetMapper (mapper);
293	}
294	else
295	+#endif
296	{
297	vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
298	#if VTK_MAJOR_VERSION < 6
299	@@ -1157,6 +1162,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
300	if (!actor)
301	actor = vtkSmartPointer<vtkActor>::New ();
302
303	+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
304	if (use_vbos_)
305	{
306	vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
307	@@ -1189,6 +1195,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
308	actor->SetMapper (mapper);
309	}
310	else
311	+#endif
312	{
313	vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
314	#if VTK_MAJOR_VERSION < 6
315	@@ -2771,6 +2778,7 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
316	vtkPolyData data = static_cast<vtkPolyData>(am_it->second.actor->GetMapper ()->GetInput ());
317	data->GetPointData ()->SetScalars (scalars);
318	// Modify the mapper
319	+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
320	if (use_vbos_)
321	{
322	vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(am_it->second.actor->GetMapper ());
323	@@ -2785,6 +2793,7 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
324	//style_->setCloudActorMap (cloud_actor_map_);
325	}
326	else
327	+#endif
328	{
329	vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ());
330	mapper->SetScalarRange (minmax);
331	@@ -4296,8 +4305,12 @@ pcl::visualization::PCLVisualizer::resetStoppedFlag ()
332	void
333	pcl::visualization::PCLVisualizer::setUseVbos (bool use_vbos)
334	{
335	+#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
336	use_vbos_ = use_vbos;
337	style_->setUseVbos (use_vbos_);
338	+#else
339	+ PCL_WARN ("[PCLVisualizer::setUseVbos] Has no effect when OpenGL version is ≥ 2\n");
340	+#endif
341	}
342
343	//////////////////////////////////////////////////////////////////////////////////////////////