--- /dev/null
+diff -up ./apps/src/render_views_tesselated_sphere.cpp.vtk6 ./apps/src/render_views_tesselated_sphere.cpp
+--- ./apps/src/render_views_tesselated_sphere.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./apps/src/render_views_tesselated_sphere.cpp 2013-08-21 00:45:59.009844777 +0000
+@@ -61,7 +61,7 @@ pcl::apps::RenderViewsTesselatedSphere::
+
+ vtkSmartPointer<vtkTransformFilter> trans_filter_center = vtkSmartPointer<vtkTransformFilter>::New ();
+ trans_filter_center->SetTransform (trans_center);
+- trans_filter_center->SetInput (polydata_);
++ trans_filter_center->SetInputData (polydata_);
+ trans_filter_center->Update ();
+
+ vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+diff -up ./common/CMakeLists.txt.vtk6 ./common/CMakeLists.txt
+diff -up ./io/CMakeLists.txt.vtk6 ./io/CMakeLists.txt
+--- ./io/CMakeLists.txt.vtk6 2013-08-21 01:00:05.542130262 +0000
++++ ./io/CMakeLists.txt 2013-08-21 01:08:03.636174342 +0000
+@@ -94,7 +94,8 @@ if(build)
+ src/vtk_lib_io.cpp
+ src/png_io.cpp
+ )
+- set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkIO vtkImaging vtkHybrid vtkGraphics vtkRendering vtkFiltering vtkVolumeRendering)
++ set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommonCore vtkIOCore vtkIOImage vtkIOLegacy vtkIOPLY vtkImagingCore)
++ #set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommonCore vtkInteractionWidgets vtkIOCore vtkImaging vtkHybrid vtkGraphics vtkRendering vtkFiltering vtkVolumeRendering)
+ # Indicates that we can rely on VTK to be present
+ set(VTK_DEFINES -DPCL_BUILT_WITH_VTK)
+ endif ()
+diff -up ./io/src/vtk_lib_io.cpp.vtk6 ./io/src/vtk_lib_io.cpp
+--- ./io/src/vtk_lib_io.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./io/src/vtk_lib_io.cpp 2013-08-21 00:56:28.418488030 +0000
+@@ -178,7 +178,7 @@ pcl::io::savePolygonFileVTK (const std::
+ pcl::io::mesh2vtk (mesh, poly_data);
+
+ vtkSmartPointer<vtkPolyDataWriter> poly_writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
+- poly_writer->SetInput (poly_data);
++ poly_writer->SetInputData (poly_data);
+ poly_writer->SetFileName (file_name.c_str ());
+ poly_writer->Write ();
+
+@@ -194,7 +194,7 @@ pcl::io::savePolygonFilePLY (const std::
+ pcl::io::mesh2vtk (mesh, poly_data);
+
+ vtkSmartPointer<vtkPLYWriter> poly_writer = vtkSmartPointer<vtkPLYWriter>::New ();
+- poly_writer->SetInput (poly_data);
++ poly_writer->SetInputData (poly_data);
+ poly_writer->SetFileName (file_name.c_str ());
+ poly_writer->SetArrayName ("Colors");
+ poly_writer->Write ();
+@@ -209,9 +209,9 @@ pcl::io::savePolygonFileSTL (const std::
+ vtkSmartPointer<vtkPolyData> poly_data = vtkSmartPointer<vtkPolyData>::New ();
+
+ pcl::io::mesh2vtk (mesh, poly_data);
+- poly_data->Update ();
++
+ vtkSmartPointer<vtkSTLWriter> poly_writer = vtkSmartPointer<vtkSTLWriter>::New ();
+- poly_writer->SetInput (poly_data);
++ poly_writer->SetInputData (poly_data);
+ poly_writer->SetFileName (file_name.c_str ());
+ poly_writer->Write ();
+
+@@ -483,9 +483,7 @@ pcl::io::saveRangeImagePlanarFilePNG (
+ {
+ vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New();
+ image->SetDimensions(range_image.width, range_image.height, 1);
+- image->SetNumberOfScalarComponents(1);
+- image->SetScalarTypeToFloat();
+- image->AllocateScalars();
++ image->AllocateScalars(VTK_FLOAT, 1);
+
+ int* dims = image->GetDimensions();
+
+@@ -504,7 +502,7 @@ pcl::io::saveRangeImagePlanarFilePNG (
+
+ vtkSmartPointer<vtkImageShiftScale> shiftScaleFilter = vtkSmartPointer<vtkImageShiftScale>::New();
+ shiftScaleFilter->SetOutputScalarTypeToUnsignedChar();
+- shiftScaleFilter->SetInputConnection(image->GetProducerPort());
++ shiftScaleFilter->SetInputData(image);
+ shiftScaleFilter->SetShift(-1.0f * image->GetScalarRange()[0]); // brings the lower bound to 0
+ shiftScaleFilter->SetScale(newRange/oldRange);
+ shiftScaleFilter->Update();
+diff -up ./outofcore/include/pcl/outofcore/visualization/axes.h.vtk6 ./outofcore/include/pcl/outofcore/visualization/axes.h
+--- ./outofcore/include/pcl/outofcore/visualization/axes.h.vtk6 2013-08-21 03:00:40.617165806 +0000
++++ ./outofcore/include/pcl/outofcore/visualization/axes.h 2013-08-21 03:01:25.741106196 +0000
+@@ -42,17 +42,17 @@ public:
+ axes_colors->InsertNextValue (1.0);
+
+ vtkSmartPointer<vtkPolyData> axes_data = axes_->GetOutput ();
+- axes_data->Update ();
++ axes_->Update ();
+ axes_data->GetPointData ()->SetScalars (axes_colors);
+
+ vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+- axes_tubes->SetInput (axes_data);
++ axes_tubes->SetInputData (axes_data);
+ axes_tubes->SetRadius (axes_->GetScaleFactor () / 100.0);
+ axes_tubes->SetNumberOfSides (6);
+
+ vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+ axes_mapper->SetScalarModeToUsePointData ();
+- axes_mapper->SetInput (axes_tubes->GetOutput ());
++ axes_mapper->SetInputData (axes_tubes->GetOutput ());
+
+ axes_actor_ = vtkSmartPointer<vtkActor>::New ();
+ axes_actor_->GetProperty ()->SetLighting (false);
+diff -up ./outofcore/src/visualization/outofcore_cloud.cpp.vtk6 ./outofcore/src/visualization/outofcore_cloud.cpp
+--- ./outofcore/src/visualization/outofcore_cloud.cpp.vtk6 2013-08-21 03:02:35.847575422 +0000
++++ ./outofcore/src/visualization/outofcore_cloud.cpp 2013-08-21 03:02:50.185875912 +0000
+@@ -159,10 +159,10 @@ OutofcoreCloud::updateVoxelData ()
+ double y = voxel_centers[i].y;
+ double z = voxel_centers[i].z;
+
+- voxel_data->AddInput (getVtkCube (x - s, x + s, y - s, y + s, z - s, z + s));
++ voxel_data->AddInputData (getVtkCube (x - s, x + s, y - s, y + s, z - s, z + s));
+ }
+
+- voxel_mapper->SetInput (voxel_data->GetOutput ());
++ voxel_mapper->SetInputData (voxel_data->GetOutput ());
+
+ voxel_actor_->SetMapper (voxel_mapper);
+ voxel_actor_->GetProperty ()->SetRepresentationToWireframe ();
+diff -up ./surface/CMakeLists.txt.vtk6 ./surface/CMakeLists.txt
+--- ./surface/CMakeLists.txt.vtk6 2013-08-21 11:46:59.239250137 +0000
++++ ./surface/CMakeLists.txt 2013-08-21 11:58:58.245855578 +0000
+@@ -44,7 +44,7 @@ if(build)
+ src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp
+ src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp
+ src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp)
+- set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkGraphics)
++ set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommonCore vtkFiltersModeling)
+ endif()
+
+ SET(BUILD_surface_on_nurbs 0 CACHE BOOL "Fitting NURBS to point-clouds using openNURBS" )
+diff -up ./surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp.vtk6 ./surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp
+--- ./surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp.vtk6 2013-08-21 11:44:17.076092636 +0000
++++ ./surface/src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp 2013-08-21 11:44:31.965381729 +0000
+@@ -59,7 +59,7 @@ pcl::MeshQuadricDecimationVTK::performPr
+ // Apply the VTK algorithm
+ vtkSmartPointer<vtkQuadricDecimation> vtk_quadric_decimation_filter = vtkSmartPointer<vtkQuadricDecimation>::New();
+ vtk_quadric_decimation_filter->SetTargetReduction (target_reduction_factor_);
+- vtk_quadric_decimation_filter->SetInput (vtk_polygons_);
++ vtk_quadric_decimation_filter->SetInputData (vtk_polygons_);
+ vtk_quadric_decimation_filter->Update ();
+
+ vtk_polygons_ = vtk_quadric_decimation_filter->GetOutput ();
+diff -up ./surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp.vtk6 ./surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp
+--- ./surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./surface/src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp 2013-08-21 00:45:59.009844777 +0000
+@@ -51,7 +51,7 @@ pcl::MeshSmoothingLaplacianVTK::performP
+
+ // Apply the VTK algorithm
+ vtkSmartPointer<vtkSmoothPolyDataFilter> vtk_smoother = vtkSmoothPolyDataFilter::New ();
+- vtk_smoother->SetInput (vtk_polygons_);
++ vtk_smoother->SetInputData (vtk_polygons_);
+ vtk_smoother->SetNumberOfIterations (num_iter_);
+ if (convergence_ != 0.0f)
+ vtk_smoother->SetConvergence (convergence_);
+diff -up ./surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp.vtk6 ./surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp
+--- ./surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./surface/src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp 2013-08-21 00:45:59.009844777 +0000
+@@ -51,7 +51,7 @@ pcl::MeshSmoothingWindowedSincVTK::perfo
+
+ // Apply the VTK algorithm
+ vtkSmartPointer<vtkWindowedSincPolyDataFilter> vtk_smoother = vtkWindowedSincPolyDataFilter::New ();
+- vtk_smoother->SetInput (vtk_polygons_);
++ vtk_smoother->SetInputData (vtk_polygons_);
+ vtk_smoother->SetNumberOfIterations (num_iter_);
+ vtk_smoother->SetPassBand (pass_band_);
+ vtk_smoother->SetNormalizeCoordinates (normalize_coordinates_);
+diff -up ./surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp.vtk6 ./surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp
+--- ./surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./surface/src/vtk_smoothing/vtk_mesh_subdivision.cpp 2013-08-21 00:45:59.009844777 +0000
+@@ -78,7 +78,7 @@ pcl::MeshSubdivisionVTK::performProcessi
+ break;
+ }
+
+- vtk_subdivision_filter->SetInput (vtk_polygons_);
++ vtk_subdivision_filter->SetInputData (vtk_polygons_);
+ vtk_subdivision_filter->Update ();
+
+ vtk_polygons_ = vtk_subdivision_filter->GetOutput ();
+diff -up ./surface/src/vtk_smoothing/vtk_utils.cpp.vtk6 ./surface/src/vtk_smoothing/vtk_utils.cpp
+--- ./surface/src/vtk_smoothing/vtk_utils.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./surface/src/vtk_smoothing/vtk_utils.cpp 2013-08-21 00:45:59.009844777 +0000
+@@ -63,7 +63,7 @@ pcl::VTKUtils::convertToVTK (const pcl::
+ mesh2vtk (triangles, vtk_polygons);
+
+ vtkSmartPointer<vtkTriangleFilter> vtk_triangles = vtkTriangleFilter::New ();
+- vtk_triangles->SetInput (vtk_polygons);
++ vtk_triangles->SetInputData (vtk_polygons);
+ vtk_triangles->Update();
+
+ triangles_out_vtk = vtk_triangles->GetOutput ();
+diff -up ./tools/CMakeLists.txt.vtk6 ./tools/CMakeLists.txt
+--- ./tools/CMakeLists.txt.vtk6 2013-08-21 12:03:18.889571490 +0000
++++ ./tools/CMakeLists.txt 2013-08-21 21:52:31.977816445 +0000
+@@ -157,7 +157,7 @@ if (build)
+ target_link_libraries (pcl_organized_pcd_to_png pcl_common pcl_io)
+
+ PCL_ADD_EXECUTABLE(pcl_tiff2pcd ${SUBSYS_NAME} tiff2pcd.cpp)
+- target_link_libraries(pcl_tiff2pcd pcl_common pcl_io)
++ target_link_libraries(pcl_tiff2pcd pcl_common pcl_io vtkRenderingCore vtkRenderingOpenGL vtkRenderingFreeType vtkRenderingFreeTypeOpenGL vtkRenderingVolume vtkRenderingVolumeOpenGL vtkFiltersStatistics vtkFiltersStatisticsGnuR vtkInteractionStyle vtkFiltersStatistics)
+
+ PCL_ADD_EXECUTABLE(pcl_ply2vtk ${SUBSYS_NAME} ply2vtk.cpp)
+ target_link_libraries(pcl_ply2vtk pcl_common pcl_io)
+@@ -172,7 +172,7 @@ if (build)
+ target_link_libraries(pcl_obj2vtk pcl_common pcl_io)
+
+ PCL_ADD_EXECUTABLE(pcl_vtk2pcd ${SUBSYS_NAME} vtk2pcd.cpp)
+- target_link_libraries(pcl_vtk2pcd pcl_common pcl_io)
++ target_link_libraries(pcl_vtk2pcd pcl_common pcl_io vtkFiltersCore)
+
+ if(BUILD_visualization)
+
+@@ -206,13 +206,13 @@ if (build)
+ target_link_libraries(pcl_octree_viewer pcl_common pcl_io pcl_octree pcl_visualization pcl_kdtree pcl_filters)
+
+ PCL_ADD_EXECUTABLE(pcl_mesh2pcd ${SUBSYS_NAME} mesh2pcd.cpp)
+- target_link_libraries(pcl_mesh2pcd pcl_common pcl_io pcl_visualization pcl_filters vtkCommon)
++ target_link_libraries(pcl_mesh2pcd pcl_common pcl_io pcl_visualization pcl_filters vtkCommonCore)
+
+ PCL_ADD_EXECUTABLE(pcl_mesh_sampling ${SUBSYS_NAME} mesh_sampling.cpp)
+- target_link_libraries(pcl_mesh_sampling pcl_common pcl_io pcl_visualization pcl_filters vtkCommon)
++ target_link_libraries(pcl_mesh_sampling pcl_common pcl_io pcl_visualization pcl_filters vtkCommonCore)
+
+ PCL_ADD_EXECUTABLE(pcl_virtual_scanner ${SUBSYS_NAME} virtual_scanner.cpp)
+- target_link_libraries(pcl_virtual_scanner pcl_common pcl_io pcl_filters pcl_visualization vtkCommon vtkGraphics)
++ target_link_libraries(pcl_virtual_scanner pcl_common pcl_io pcl_filters pcl_visualization vtkCommonCore vtkRenderingCore)
+
+ PCL_ADD_EXECUTABLE (pcl_voxel_grid_occlusion_estimation ${SUBSYS_NAME} voxel_grid_occlusion_estimation.cpp)
+ target_link_libraries (pcl_voxel_grid_occlusion_estimation pcl_common pcl_io pcl_filters pcl_visualization)
+diff -up ./tools/mesh2pcd.cpp.vtk6 ./tools/mesh2pcd.cpp
+--- ./tools/mesh2pcd.cpp.vtk6 2013-08-21 12:02:28.533640909 +0000
++++ ./tools/mesh2pcd.cpp 2013-08-21 12:02:57.648177984 +0000
+@@ -112,14 +112,14 @@ main (int argc, char **argv)
+ vtkSmartPointer<vtkPLYReader> readerQuery = vtkSmartPointer<vtkPLYReader>::New ();
+ readerQuery->SetFileName (argv[ply_file_indices[0]]);
+ polydata1 = readerQuery->GetOutput ();
+- polydata1->Update ();
++ readerQuery->Update ();
+ }
+ else if (obj_file_indices.size () == 1)
+ {
+ vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
+ readerQuery->SetFileName (argv[obj_file_indices[0]]);
+ polydata1 = readerQuery->GetOutput ();
+- polydata1->Update ();
++ readerQuery->Update ();
+ }
+
+ bool INTER_VIS = false;
+diff -up ./tools/mesh_sampling.cpp.vtk6 ./tools/mesh_sampling.cpp
+--- ./tools/mesh_sampling.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./tools/mesh_sampling.cpp 2013-08-21 12:04:48.924253782 +0000
+@@ -197,19 +197,19 @@ main (int argc, char **argv)
+ vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
+ readerQuery->SetFileName (argv[obj_file_indices[0]]);
+ polydata1 = readerQuery->GetOutput ();
+- polydata1->Update ();
++ readerQuery->Update ();
+ }
+
+ //make sure that the polygons are triangles!
+ vtkSmartPointer<vtkTriangleFilter> triangleFilter = vtkSmartPointer<vtkTriangleFilter>::New ();
+- triangleFilter->SetInput (polydata1);
++ triangleFilter->SetInputData (polydata1);
+ triangleFilter->Update ();
+
+ vtkSmartPointer<vtkPolyDataMapper> triangleMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+ triangleMapper->SetInputConnection (triangleFilter->GetOutputPort ());
+ triangleMapper->Update();
+ polydata1 = triangleMapper->GetInput();
+- polydata1->Update ();
++ triangleMapper->Update ();
+
+ bool INTER_VIS = false;
+ bool VIS = true;
+diff -up ./tools/obj2vtk.cpp.vtk6 ./tools/obj2vtk.cpp
+--- ./tools/obj2vtk.cpp.vtk6 2013-08-21 12:19:09.415203938 +0000
++++ ./tools/obj2vtk.cpp 2013-08-21 12:20:53.422308400 +0000
+@@ -77,11 +77,11 @@ main (int argc, char** argv)
+ vtkSmartPointer<vtkOBJReader> reader = vtkSmartPointer<vtkOBJReader>::New ();
+ reader->SetFileName (argv[obj_file_indices[0]]);
+ polydata = reader->GetOutput ();
+- polydata->Update ();
++ reader->Update ();
+
+ // Convert to VTK and save
+ vtkSmartPointer<vtkPolyDataWriter> writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
+- writer->SetInput (polydata);
++ writer->SetInputData (polydata);
+ writer->SetFileName (argv[vtk_file_indices[0]]);
+ writer->Write ();
+ }
+diff -up ./tools/obj_rec_ransac_accepted_hypotheses.cpp.vtk6 ./tools/obj_rec_ransac_accepted_hypotheses.cpp
+--- ./tools/obj_rec_ransac_accepted_hypotheses.cpp.vtk6 2013-08-21 12:21:36.920187867 +0000
++++ ./tools/obj_rec_ransac_accepted_hypotheses.cpp 2013-08-21 12:21:55.581565073 +0000
+@@ -323,13 +323,13 @@ update (CallbackParameters* params)
+ // Setup the transformator
+ vtkSmartPointer<vtkTransformPolyDataFilter> vtk_transformator = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
+ vtk_transformator->SetTransform (vtk_transform);
+- vtk_transformator->SetInput (vtk_model);
++ vtk_transformator->SetInputData (vtk_model);
+ vtk_transformator->Update ();
+
+ // Visualize
+ vtkSmartPointer<vtkActor> vtk_actor = vtkSmartPointer<vtkActor>::New();
+ vtkSmartPointer<vtkPolyDataMapper> vtk_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+- vtk_mapper->SetInput(vtk_transformator->GetOutput ());
++ vtk_mapper->SetInputData(vtk_transformator->GetOutput ());
+ vtk_actor->SetMapper(vtk_mapper);
+ // Set the appearance & add to the renderer
+ vtk_actor->GetProperty ()->SetColor (0.6, 0.7, 0.9);
+diff -up ./tools/obj_rec_ransac_model_opps.cpp.vtk6 ./tools/obj_rec_ransac_model_opps.cpp
+--- ./tools/obj_rec_ransac_model_opps.cpp.vtk6 2013-08-21 12:22:50.385672453 +0000
++++ ./tools/obj_rec_ransac_model_opps.cpp 2013-08-21 12:23:04.255952621 +0000
+@@ -215,7 +215,7 @@ void showModelOpps (PCLVisualizer& viz,
+ // Save the normals
+ vtk_opps->GetPointData ()->SetNormals (vtk_normals);
+ // Setup the hedge hog object
+- vtk_hedge_hog->SetInput (vtk_opps);
++ vtk_hedge_hog->SetInputData (vtk_opps);
+ vtk_hedge_hog->SetVectorModeToUseNormal ();
+ vtk_hedge_hog->SetScaleFactor (0.5f*pair_width);
+ vtk_hedge_hog->Update ();
+diff -up ./tools/obj_rec_ransac_orr_octree.cpp.vtk6 ./tools/obj_rec_ransac_orr_octree.cpp
+--- ./tools/obj_rec_ransac_orr_octree.cpp.vtk6 2013-08-21 12:23:59.602070262 +0000
++++ ./tools/obj_rec_ransac_orr_octree.cpp 2013-08-21 12:24:21.623514810 +0000
+@@ -304,7 +304,7 @@ void node_to_cube (ORROctree::Node* node
+ cube->SetBounds (b[0], b[1], b[2], b[3], b[4], b[5]);
+ cube->Update ();
+
+- additive_octree->AddInput (cube->GetOutput ());
++ additive_octree->AddInputData (cube->GetOutput ());
+ }
+
+ //===============================================================================================================================
+@@ -363,7 +363,7 @@ void show_octree (ORROctree* octree, PCL
+ vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
+ vtkSmartPointer<vtkActor> octree_actor = vtkSmartPointer<vtkActor>::New();
+ vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+- mapper->SetInput(vtk_octree);
++ mapper->SetInputData(vtk_octree);
+ octree_actor->SetMapper(mapper);
+
+ // Set the appearance & add to the renderer
+diff -up ./tools/obj_rec_ransac_orr_octree_zprojection.cpp.vtk6 ./tools/obj_rec_ransac_orr_octree_zprojection.cpp
+--- ./tools/obj_rec_ransac_orr_octree_zprojection.cpp.vtk6 2013-08-21 21:26:26.090325485 +0000
++++ ./tools/obj_rec_ransac_orr_octree_zprojection.cpp 2013-08-21 21:27:15.501360394 +0000
+@@ -206,7 +206,7 @@ void show_octree (ORROctree* octree, PCL
+ vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
+ vtkSmartPointer<vtkActor> octree_actor = vtkSmartPointer<vtkActor>::New();
+ vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+- mapper->SetInput(vtk_octree);
++ mapper->SetInputData(vtk_octree);
+ octree_actor->SetMapper(mapper);
+
+ // Set the appearance & add to the renderer
+@@ -250,9 +250,9 @@ void show_octree_zproj (ORROctreeZProjec
+ vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
+ vtkSmartPointer<vtkActor> upper_actor = vtkSmartPointer<vtkActor>::New(), lower_actor = vtkSmartPointer<vtkActor>::New();
+ vtkSmartPointer<vtkDataSetMapper> upper_mapper = vtkSmartPointer<vtkDataSetMapper>::New (), lower_mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+- upper_mapper->SetInput(upper_bound->GetOutput ());
++ upper_mapper->SetInputData(upper_bound->GetOutput ());
+ upper_actor->SetMapper(upper_mapper);
+- lower_mapper->SetInput(lower_bound->GetOutput ());
++ lower_mapper->SetInputData(lower_bound->GetOutput ());
+ lower_actor->SetMapper(lower_mapper);
+
+ // Set the appearance & add to the renderer
+@@ -272,7 +272,7 @@ void node_to_cube (ORROctree::Node* node
+ cube->SetBounds (b[0], b[1], b[2], b[3], b[4], b[5]);
+ cube->Update ();
+
+- additive_octree->AddInput (cube->GetOutput ());
++ additive_octree->AddInputData (cube->GetOutput ());
+ }
+
+ //===============================================================================================================================
+@@ -284,7 +284,7 @@ void rectangle_to_vtk (float x1, float x
+ cube->SetBounds (x1, x2, y1, y2, z, z);
+ cube->Update ();
+
+- additive_rectangle->AddInput (cube->GetOutput ());
++ additive_rectangle->AddInputData (cube->GetOutput ());
+ }
+
+ //===============================================================================================================================
+diff -up ./tools/obj_rec_ransac_result.cpp.vtk6 ./tools/obj_rec_ransac_result.cpp
+--- ./tools/obj_rec_ransac_result.cpp.vtk6 2013-08-21 21:27:49.210066401 +0000
++++ ./tools/obj_rec_ransac_result.cpp 2013-08-21 21:28:04.681390430 +0000
+@@ -281,13 +281,13 @@ update (CallbackParameters* params)
+ // Setup the transformator
+ vtkSmartPointer<vtkTransformPolyDataFilter> vtk_transformator = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
+ vtk_transformator->SetTransform (vtk_transform);
+- vtk_transformator->SetInput (vtk_model);
++ vtk_transformator->SetInputData (vtk_model);
+ vtk_transformator->Update ();
+
+ // Visualize
+ vtkSmartPointer<vtkActor> vtk_actor = vtkSmartPointer<vtkActor>::New();
+ vtkSmartPointer<vtkPolyDataMapper> vtk_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+- vtk_mapper->SetInput(vtk_transformator->GetOutput ());
++ vtk_mapper->SetInputData(vtk_transformator->GetOutput ());
+ vtk_actor->SetMapper(vtk_mapper);
+ // Set the appearance & add to the renderer
+ vtk_actor->GetProperty ()->SetColor (0.6, 0.7, 0.9);
+diff -up ./tools/obj_rec_ransac_scene_opps.cpp.vtk6 ./tools/obj_rec_ransac_scene_opps.cpp
+--- ./tools/obj_rec_ransac_scene_opps.cpp.vtk6 2013-08-21 21:29:21.909007870 +0000
++++ ./tools/obj_rec_ransac_scene_opps.cpp 2013-08-21 21:29:32.698233839 +0000
+@@ -173,7 +173,7 @@ void update (CallbackParameters* params)
+ vtkSmartPointer<vtkHedgeHog> vtk_hh = vtkSmartPointer<vtkHedgeHog>::New ();
+ vtk_hh->SetVectorModeToUseNormal ();
+ vtk_hh->SetScaleFactor (0.5f*params->objrec_.getPairWidth ());
+- vtk_hh->SetInput (vtk_opps);
++ vtk_hh->SetInputData (vtk_opps);
+ vtk_hh->Update ();
+
+ // The lines
+diff -up ./tools/octree_viewer.cpp.vtk6 ./tools/octree_viewer.cpp
+--- ./tools/octree_viewer.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./tools/octree_viewer.cpp 2013-08-21 21:30:09.428003080 +0000
+@@ -294,13 +294,13 @@ private:
+ double y = displayCloud->points[i].y;
+ double z = displayCloud->points[i].z;
+
+- treeWireframe->AddInput(GetCuboid(x - s, x + s, y - s, y + s, z - s, z + s));
++ treeWireframe->AddInputData(GetCuboid(x - s, x + s, y - s, y + s, z - s, z + s));
+ }
+
+ vtkSmartPointer<vtkActor> treeActor = vtkSmartPointer<vtkActor>::New();
+
+ vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+- mapper->SetInput(treeWireframe->GetOutput());
++ mapper->SetInputConnection(treeWireframe->GetOutputPort());
+ treeActor->SetMapper(mapper);
+
+ treeActor->GetProperty()->SetColor(1.0, 1.0, 1.0);
+diff -up ./tools/ply2vtk.cpp.vtk6 ./tools/ply2vtk.cpp
+--- ./tools/ply2vtk.cpp.vtk6 2013-08-21 21:33:03.894656841 +0000
++++ ./tools/ply2vtk.cpp 2013-08-21 21:33:52.922683565 +0000
+@@ -77,12 +77,12 @@ main (int argc, char** argv)
+ vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New ();
+ reader->SetFileName (argv[ply_file_indices[0]]);
+ polydata = reader->GetOutput ();
+- polydata->Update ();
++ reader->Update ();
+ print_info ("Loaded %s with %zu points/vertices.\n", argv[ply_file_indices[0]], polydata->GetNumberOfPoints ());
+
+ // Convert to VTK and save
+ vtkSmartPointer<vtkPolyDataWriter> writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
+- writer->SetInput (polydata);
++ writer->SetInputData (polydata);
+ writer->SetFileName (argv[vtk_file_indices[0]]);
+ writer->SetFileTypeToBinary ();
+ writer->Write ();
+diff -up ./tools/png2pcd.cpp.vtk6 ./tools/png2pcd.cpp
+--- ./tools/png2pcd.cpp.vtk6 2013-08-21 21:38:51.232930286 +0000
++++ ./tools/png2pcd.cpp 2013-08-21 21:39:07.930279915 +0000
+@@ -135,7 +135,7 @@ main (int argc, char** argv)
+ vtkSmartPointer<vtkPNGReader> reader = vtkSmartPointer<vtkPNGReader>::New ();
+ reader->SetFileName (argv[png_file_indices[0]]);
+ image_data = reader->GetOutput ();
+- image_data->Update ();
++ reader->Update ();
+
+ // Retrieve the entries from the image data and copy them into the output RGB cloud
+ int components = image_data->GetNumberOfScalarComponents();
+diff -up ./tools/tiff2pcd.cpp.vtk6 ./tools/tiff2pcd.cpp
+--- ./tools/tiff2pcd.cpp.vtk6 2013-08-21 21:40:40.661221583 +0000
++++ ./tools/tiff2pcd.cpp 2013-08-21 21:41:04.837727812 +0000
+@@ -343,7 +343,7 @@ int main(int argc, char ** argv)
+ {
+ reader->SetFileName (tiff_rgb_files[i].c_str());
+ rgb_data = reader->GetOutput ();
+- rgb_data->Update ();
++ reader->Update ();
+
+ std::string rgb_filename = tiff_rgb_paths[i].filename().string();
+ std::string rgb_time = rgb_filename.substr(6,22);
+@@ -381,7 +381,7 @@ int main(int argc, char ** argv)
+ {
+ depth_reader->SetFileName (tiff_depth_files[j].c_str());
+ depth_data = depth_reader->GetOutput ();
+- depth_data->Update ();
++ depth_reader->Update ();
+
+ processAndSave(depth_data, rgb_data, depth_time, focal_length, format, color, depth, use_output_path, output_path_);
+ }
+diff -up ./tools/virtual_scanner.cpp.vtk6 ./tools/virtual_scanner.cpp
+--- ./tools/virtual_scanner.cpp.vtk6 2013-08-21 21:46:18.703160995 +0000
++++ ./tools/virtual_scanner.cpp 2013-08-21 21:46:36.537526230 +0000
+@@ -221,7 +221,7 @@ main (int argc, char** argv)
+
+ // Get camera positions
+ vtkPolyData *sphere = subdivide->GetOutput ();
+- sphere->Update ();
++ subdivide->Update ();
+ if (!single_view)
+ PCL_INFO ("Created %ld camera position points.\n", sphere->GetNumberOfPoints ());
+
+diff -up ./tools/voxel_grid_occlusion_estimation.cpp.vtk6 ./tools/voxel_grid_occlusion_estimation.cpp
+--- ./tools/voxel_grid_occlusion_estimation.cpp.vtk6 2013-08-21 21:48:52.163305550 +0000
++++ ./tools/voxel_grid_occlusion_estimation.cpp 2013-08-21 21:50:58.043887848 +0000
+@@ -99,13 +99,13 @@ getVoxelActors (pcl::PointCloud<pcl::Poi
+ double y = voxelCenters.points[i].y;
+ double z = voxelCenters.points[i].z;
+
+- treeWireframe->AddInput (getCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
++ treeWireframe->AddInputData (getCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
+ }
+
+ vtkSmartPointer < vtkLODActor > treeActor = vtkSmartPointer<vtkLODActor>::New ();
+
+ vtkSmartPointer < vtkDataSetMapper > mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+- mapper->SetInput (treeWireframe->GetOutput ());
++ mapper->SetInputData (treeWireframe->GetOutput ());
+ treeActor->SetMapper (mapper);
+
+ treeActor->GetProperty ()->SetRepresentationToWireframe ();
+@@ -119,12 +119,12 @@ displayBoundingBox (Eigen::Vector3f& min
+ vtkSmartPointer<vtkActorCollection> coll)
+ {
+ vtkSmartPointer < vtkAppendPolyData > treeWireframe = vtkSmartPointer<vtkAppendPolyData>::New ();
+- treeWireframe->AddInput (getCuboid (min_b[0], max_b[0], min_b[1], max_b[1], min_b[2], max_b[2]));
++ treeWireframe->AddInputData (getCuboid (min_b[0], max_b[0], min_b[1], max_b[1], min_b[2], max_b[2]));
+
+ vtkSmartPointer < vtkActor > treeActor = vtkSmartPointer<vtkActor>::New ();
+
+ vtkSmartPointer < vtkDataSetMapper > mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+- mapper->SetInput (treeWireframe->GetOutput ());
++ mapper->SetInputData (treeWireframe->GetOutput ());
+ treeActor->SetMapper (mapper);
+
+ treeActor->GetProperty ()->SetRepresentationToWireframe ();
+diff -up ./tools/vtk2pcd.cpp.vtk6 ./tools/vtk2pcd.cpp
+--- ./tools/vtk2pcd.cpp.vtk6 2013-08-21 21:51:08.163095564 +0000
++++ ./tools/vtk2pcd.cpp 2013-08-21 21:51:18.089299305 +0000
+@@ -107,7 +107,7 @@ main (int argc, char** argv)
+ if (copy_normals)
+ {
+ vtkSmartPointer<vtkPolyDataNormals> ng = vtkSmartPointer<vtkPolyDataNormals>::New ();
+- ng->SetInput (polydata);
++ ng->SetInputData (polydata);
+ ng->ComputePointNormalsOn ();
+ ng->ComputeCellNormalsOff ();
+ ng->Update ();
+diff -up ./tools/vtk2ply.cpp.vtk6 ./tools/vtk2ply.cpp
+--- ./tools/vtk2ply.cpp.vtk6 2013-08-21 21:52:57.293336401 +0000
++++ ./tools/vtk2ply.cpp 2013-08-21 21:53:16.847738110 +0000
+@@ -77,12 +77,12 @@ main (int argc, char** argv)
+ vtkSmartPointer<vtkPolyDataReader> reader = vtkSmartPointer<vtkPolyDataReader>::New ();
+ reader->SetFileName (argv[vtk_file_indices[0]]);
+ polydata = reader->GetOutput ();
+- polydata->Update ();
++ reader->Update ();
+ print_info ("Loaded %s with %zu points/vertices.\n", argv[vtk_file_indices[0]], polydata->GetNumberOfPoints ());
+
+ // Convert to PLY and save
+ vtkSmartPointer<vtkPLYWriter> writer = vtkSmartPointer<vtkPLYWriter>::New ();
+- writer->SetInput (polydata);
++ writer->SetInputData (polydata);
+ writer->SetArrayName ("Colors");
+ writer->SetFileTypeToASCII ();
+ writer->SetFileName (argv[ply_file_indices[0]]);
+diff -up ./visualization/CMakeLists.txt.vtk6 ./visualization/CMakeLists.txt
+--- ./visualization/CMakeLists.txt.vtk6 2013-08-21 02:43:15.375525780 +0000
++++ ./visualization/CMakeLists.txt 2013-08-21 02:57:55.536733573 +0000
+@@ -152,8 +152,10 @@ if(build)
+
+ if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "5.6")
+ target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
+- else()
++ elseif(${VTK_MAJOR_VERSION} LESS 6)
+ target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkCharts vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
++ else()
++ target_link_libraries(${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})
+ endif()
+
+ set(EXT_DEPS "")
+diff -up ./visualization/include/pcl/visualization/common/impl/shapes.hpp.vtk6 ./visualization/include/pcl/visualization/common/impl/shapes.hpp
+--- ./visualization/include/pcl/visualization/common/impl/shapes.hpp.vtk6 2013-08-21 01:44:28.135763915 +0000
++++ ./visualization/include/pcl/visualization/common/impl/shapes.hpp 2013-08-21 01:52:43.507042740 +0000
+@@ -67,7 +67,7 @@ pcl::visualization::createPolygon (const
+ poly_grid->Allocate (1, 1);
+ poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
+ poly_grid->SetPoints (poly_points);
+- poly_grid->Update ();
++ //poly_grid->Update ();
+
+ return (poly_grid);
+ }
+@@ -104,7 +104,7 @@ pcl::visualization::createPolygon (const
+ poly_grid->Allocate (1, 1);
+ poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
+ poly_grid->SetPoints (poly_points);
+- poly_grid->Update ();
++ //poly_grid->Update ();
+
+ return (poly_grid);
+ }
+diff -up ./visualization/include/pcl/visualization/image_viewer.h.vtk6 ./visualization/include/pcl/visualization/image_viewer.h
+--- ./visualization/include/pcl/visualization/image_viewer.h.vtk6 2013-08-21 23:11:02.627949762 +0000
++++ ./visualization/include/pcl/visualization/image_viewer.h 2013-08-21 02:29:21.229120143 +0000
+@@ -952,7 +952,7 @@ namespace pcl
+ /** \brief The renderer. */
+ vtkSmartPointer<vtkRenderer> ren_;
+
+-#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
++#if (((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10)) || (VTK_MAJOR_VERSION > 5))
+ /** \brief Global prop. This is the actual "actor". */
+ vtkSmartPointer<vtkImageSlice> slice_;
+ #endif
+diff -up ./visualization/include/pcl/visualization/impl/image_viewer.hpp.vtk6 ./visualization/include/pcl/visualization/impl/image_viewer.hpp
+--- ./visualization/include/pcl/visualization/impl/image_viewer.hpp.vtk6 2013-08-21 02:22:42.987745331 +0000
++++ ./visualization/include/pcl/visualization/impl/image_viewer.hpp 2013-08-21 02:23:08.182278421 +0000
+@@ -435,9 +435,7 @@ pcl::visualization::ImageViewer::showCor
+
+ vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
+ image->SetDimensions (source_img.width + target_img.width, std::max (source_img.height, target_img.height), 1);
+- image->SetScalarTypeToUnsignedChar ();
+- image->SetNumberOfScalarComponents (3);
+- image->AllocateScalars ();
++ image->AllocateScalars (VTK_UNSIGNED_CHAR, 3);
+ image->GetPointData ()->GetScalars ()->SetVoidArray (data, data_size_, 1);
+ vtkSmartPointer<PCLContextImageItem> image_item = vtkSmartPointer<PCLContextImageItem>::New ();
+ #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
+diff -up ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp.vtk6 ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp
+--- ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp.vtk6 2013-08-21 01:53:19.555789272 +0000
++++ ./visualization/include/pcl/visualization/impl/pcl_visualizer.hpp 2013-08-21 02:15:15.723273700 +0000
+@@ -322,13 +322,13 @@ pcl::visualization::PCLVisualizer::addPo
+ vtkSmartPointer<vtkAppendPolyData> all_data = vtkSmartPointer<vtkAppendPolyData>::New ();
+
+ // Add old data
+- all_data->AddInput (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
++ all_data->AddInputData (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
+
+ // Add new data
+ vtkSmartPointer<vtkDataSetSurfaceFilter> surface_filter = vtkSmartPointer<vtkDataSetSurfaceFilter>::New ();
+- surface_filter->SetInput (vtkUnstructuredGrid::SafeDownCast (data));
++ surface_filter->SetInputData (vtkUnstructuredGrid::SafeDownCast (data));
+ vtkSmartPointer<vtkPolyData> poly_data = surface_filter->GetOutput ();
+- all_data->AddInput (poly_data);
++ all_data->AddInputData (poly_data);
+
+ // Create an Actor
+ vtkSmartPointer<vtkActor> actor;
+@@ -376,13 +376,13 @@ pcl::visualization::PCLVisualizer::addPo
+ vtkSmartPointer<vtkAppendPolyData> all_data = vtkSmartPointer<vtkAppendPolyData>::New ();
+
+ // Add old data
+- all_data->AddInput (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
++ all_data->AddInputData (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
+
+ // Add new data
+ vtkSmartPointer<vtkDataSetSurfaceFilter> surface_filter = vtkSmartPointer<vtkDataSetSurfaceFilter>::New ();
+- surface_filter->SetInput (vtkUnstructuredGrid::SafeDownCast (data));
++ surface_filter->SetInputData (vtkUnstructuredGrid::SafeDownCast (data));
+ vtkSmartPointer<vtkPolyData> poly_data = surface_filter->GetOutput ();
+- all_data->AddInput (poly_data);
++ all_data->AddInputData (poly_data);
+
+ // Create an Actor
+ vtkSmartPointer<vtkActor> actor;
+@@ -613,7 +613,7 @@ pcl::visualization::PCLVisualizer::updat
+ //////////////////////////////////////////////////////////////////////////
+ // Get the actor pointer
+ vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
+- vtkAlgorithm *algo = actor->GetMapper ()->GetInput ()->GetProducerPort ()->GetProducer ();
++ vtkAlgorithm *algo = actor->GetMapper ()->GetInput ();
+ vtkSphereSource *src = vtkSphereSource::SafeDownCast (algo);
+
+ src->SetCenter (double (center.x), double (center.y), double (center.z));
+@@ -796,7 +796,7 @@ pcl::visualization::PCLVisualizer::addPo
+ polyData->SetLines (lines);
+
+ vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+- mapper->SetInput (polyData);
++ mapper->SetInputData (polyData);
+ mapper->SetColorModeToMapScalars();
+ mapper->SetScalarModeToUsePointData();
+
+@@ -871,7 +871,7 @@ pcl::visualization::PCLVisualizer::addPo
+ polyData->SetLines(lines);
+
+ vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+- mapper->SetInput (polyData);
++ mapper->SetInputData (polyData);
+ mapper->SetColorModeToMapScalars();
+ mapper->SetScalarModeToUsePointData();
+
+@@ -970,7 +970,7 @@ pcl::visualization::PCLVisualizer::addCo
+ line_data->SetLines (line_cells);
+ line_data->GetPointData ()->SetTCoords (line_tcoords);
+ line_data->GetCellData ()->SetScalars (line_colors);
+- line_data->Update ();
++ //line_data->Update ();
+
+ // Create an Actor
+ vtkSmartPointer<vtkLODActor> actor;
+@@ -1075,7 +1075,7 @@ pcl::visualization::PCLVisualizer::addCo
+ line_data->SetLines (line_cells);
+ line_data->GetPointData ()->SetTCoords (line_tcoords);
+ line_data->GetCellData ()->SetScalars (line_colors);
+- line_data->Update ();
++ //line_data->Update ();
+
+ // Create an Actor
+ vtkSmartPointer<vtkLODActor> actor;
+@@ -1178,10 +1178,10 @@ pcl::visualization::PCLVisualizer::updat
+ line_data->SetLines (line_cells);
+ line_data->GetPointData ()->SetTCoords (line_tcoords);
+ line_data->GetCellData ()->SetScalars (line_colors);
+- line_data->Update ();
++ //line_data->Update ();
+
+ // Update the mapper
+- reinterpret_cast<vtkPolyDataMapper*>(actor->GetMapper ())->SetInput (line_data);
++ reinterpret_cast<vtkPolyDataMapper*>(actor->GetMapper ())->SetInputData (line_data);
+
+ return (true);
+ }
+@@ -1213,7 +1213,7 @@ pcl::visualization::PCLVisualizer::fromH
+ // Convert the PointCloud to VTK PolyData
+ convertPointCloudToVTKPolyData<PointT> (geometry_handler, polydata, initcells);
+ // use the given geometry handler
+- polydata->Update ();
++ //polydata->Update ();
+
+ // Get the colors from the handler
+ bool has_colors = false;
+@@ -1277,7 +1277,7 @@ pcl::visualization::PCLVisualizer::fromH
+ // Convert the PointCloud to VTK PolyData
+ convertPointCloudToVTKPolyData<PointT> (geometry_handler, polydata, initcells);
+ // use the given geometry handler
+- polydata->Update ();
++ //polydata->Update ();
+
+ // Get the colors from the handler
+ bool has_colors = false;
+@@ -1342,7 +1342,7 @@ pcl::visualization::PCLVisualizer::fromH
+ // Convert the PointCloud to VTK PolyData
+ convertPointCloudToVTKPolyData (geometry_handler, polydata, initcells);
+ // use the given geometry handler
+- polydata->Update ();
++ //polydata->Update ();
+
+ // Get the colors from the handler
+ bool has_colors = false;
+@@ -1394,12 +1394,12 @@ pcl::visualization::PCLVisualizer::updat
+ vtkSmartPointer<vtkPolyData> polydata = reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->GetInput ();
+ // Convert the PointCloud to VTK PolyData
+ convertPointCloudToVTKPolyData<PointT> (cloud, polydata, am_it->second.cells);
+- polydata->Update ();
++ //polydata->Update ();
+
+ // Set scalars to blank, since there is no way we can update them here.
+ vtkSmartPointer<vtkDataArray> scalars;
+ polydata->GetPointData ()->SetScalars (scalars);
+- polydata->Update ();
++ //polydata->Update ();
+ double minmax[2];
+ minmax[0] = std::numeric_limits<double>::min ();
+ minmax[1] = std::numeric_limits<double>::max ();
+@@ -1407,7 +1407,7 @@ pcl::visualization::PCLVisualizer::updat
+ am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
+
+ // Update the mapper
+- reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
++ reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInputData (polydata);
+ return (true);
+ }
+
+@@ -1432,7 +1432,7 @@ pcl::visualization::PCLVisualizer::updat
+ // Set scalars to blank, since there is no way we can update them here.
+ vtkSmartPointer<vtkDataArray> scalars;
+ polydata->GetPointData ()->SetScalars (scalars);
+- polydata->Update ();
++ //polydata->Update ();
+ double minmax[2];
+ minmax[0] = std::numeric_limits<double>::min ();
+ minmax[1] = std::numeric_limits<double>::max ();
+@@ -1440,7 +1440,7 @@ pcl::visualization::PCLVisualizer::updat
+ am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
+
+ // Update the mapper
+- reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
++ reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInputData (polydata);
+ return (true);
+ }
+
+@@ -1507,13 +1507,13 @@ pcl::visualization::PCLVisualizer::updat
+ scalars->GetRange (minmax);
+ // Update the data
+ polydata->GetPointData ()->SetScalars (scalars);
+- polydata->Update ();
++ //polydata->Update ();
+
+ am_it->second.actor->GetMapper ()->ImmediateModeRenderingOff ();
+ am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
+
+ // Update the mapper
+- reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
++ reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInputData (polydata);
+ return (true);
+ }
+
+@@ -1668,7 +1668,7 @@ pcl::visualization::PCLVisualizer::addPo
+ poly_grid->Allocate (1, 1);
+ poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
+ poly_grid->SetPoints (points);
+- poly_grid->Update ();
++ //poly_grid->Update ();
+ if (colors)
+ poly_grid->GetPointData ()->SetScalars (colors);
+
+@@ -1813,7 +1813,7 @@ pcl::visualization::PCLVisualizer::updat
+ cells->Squeeze ();
+ // Set the the vertices
+ polydata->SetStrips (cells);
+- polydata->Update ();
++ //polydata->Update ();
+
+ return (true);
+ }
+diff -up ./visualization/src/.vtk6 ./visualization/src/
+diff -up ./visualization/src/common/io.cpp.vtk6 ./visualization/src/common/io.cpp
+--- ./visualization/src/common/io.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./visualization/src/common/io.cpp 2013-08-21 00:45:59.010844800 +0000
+@@ -89,7 +89,7 @@ pcl::visualization::savePointData (vtkPo
+ // Clean the data (no duplicates!)
+ vtkSmartPointer<vtkCleanPolyData> cleaner = vtkSmartPointer<vtkCleanPolyData>::New ();
+ cleaner->SetTolerance (0.0);
+- cleaner->SetInput (data);
++ cleaner->SetInputData (data);
+ cleaner->ConvertLinesToPointsOff ();
+ cleaner->ConvertPolysToLinesOff ();
+ cleaner->ConvertStripsToPolysOff ();
+diff -up ./visualization/src/common/shapes.cpp.vtk6 ./visualization/src/common/shapes.cpp
+--- ./visualization/src/common/shapes.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./visualization/src/common/shapes.cpp 2013-08-21 00:45:59.010844800 +0000
+@@ -224,7 +224,7 @@ pcl::visualization::create2DCircle (cons
+ circle->SetNumberOfSides (100);
+
+ vtkSmartPointer<vtkTubeFilter> tube = vtkSmartPointer<vtkTubeFilter>::New();
+- tube->SetInput (circle->GetOutput());
++ tube->SetInputConnection (circle->GetOutputPort());
+ tube->SetNumberOfSides (25);
+ tube->SetRadius (0.001);
+ */
+diff -up ./visualization/src/histogram_visualizer.cpp.vtk6 ./visualization/src/histogram_visualizer.cpp
+--- ./visualization/src/histogram_visualizer.cpp.vtk6 2013-08-21 02:18:27.494336735 +0000
++++ ./visualization/src/histogram_visualizer.cpp 2013-08-21 02:22:29.553461057 +0000
+@@ -260,7 +260,7 @@ pcl::visualization::PCLHistogramVisualiz
+ const vtkSmartPointer<vtkDoubleArray> &xy_array, RenWinInteract* renwinupd, const int hsize)
+ {
+ renwinupd->ren_->RemoveActor2D (renwinupd->xy_plot_);
+- renwinupd->xy_plot_->RemoveAllInputs ();
++ renwinupd->xy_plot_->RemoveAllDataSetInputConnections ();
+
+ double min_max[2];
+ xy_array->GetRange (min_max, 1);
+diff -up ./visualization/src/image_viewer.cpp.vtk6 ./visualization/src/image_viewer.cpp
+--- ./visualization/src/image_viewer.cpp.vtk6 2013-08-21 02:24:01.801412800 +0000
++++ ./visualization/src/image_viewer.cpp 2013-08-21 02:31:50.889239852 +0000
+@@ -37,6 +37,8 @@
+ */
+
+ #include <vtkImageViewer.h>
++#include <vtkImageSlice.h>
++#include <vtkImageSliceMapper.h>
+ #include <vtkCallbackCommand.h>
+ #include <vtkRenderer.h>
+ #include <vtkCamera.h>
+@@ -117,7 +119,7 @@ pcl::visualization::ImageViewer::ImageVi
+
+ vtkSmartPointer<vtkImageData> empty_image = vtkSmartPointer<vtkImageData>::New ();
+ vtkSmartPointer<vtkImageSliceMapper> map = vtkSmartPointer<vtkImageSliceMapper>::New ();
+- map->SetInput (empty_image);
++ map->SetInputData (empty_image);
+ slice_->SetMapper (map);
+ ren_->AddViewProp (slice_);
+ interactor_->SetInteractorStyle (interactor_style_);
+@@ -180,9 +182,7 @@ pcl::visualization::ImageViewer::addRGBI
+
+ vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
+ image->SetExtent (0, width - 1, 0, height - 1, 0, 0);
+- image->SetScalarTypeToUnsignedChar ();
+- image->SetNumberOfScalarComponents (3);
+- image->AllocateScalars ();
++ image->AllocateScalars (VTK_UNSIGNED_CHAR, 3);
+ image->GetPointData ()->GetScalars ()->SetVoidArray (data, 3 * width * height, 1);
+ #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
+ // Now create filter and set previously created transformation
+@@ -231,9 +231,7 @@ pcl::visualization::ImageViewer::addMono
+
+ vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
+ image->SetExtent (0, width - 1, 0, height - 1, 0, 0);
+- image->SetScalarTypeToUnsignedChar ();
+- image->SetNumberOfScalarComponents (1);
+- image->AllocateScalars ();
++ image->AllocateScalars (VTK_UNSIGNED_CHAR, 1);
+ image->GetPointData ()->GetScalars ()->SetVoidArray (data, width * height, 1);
+
+ #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
+diff -up ./visualization/src/interactor_style.cpp.vtk6 ./visualization/src/interactor_style.cpp
+--- ./visualization/src/interactor_style.cpp.vtk6 2013-08-21 01:15:47.308900484 +0000
++++ ./visualization/src/interactor_style.cpp 2013-08-21 01:18:42.048639938 +0000
+@@ -357,7 +357,7 @@ pcl::visualization::PCLVisualizerInterac
+ else
+ {
+ vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
+- mapper->SetInput (data);
++ mapper->SetInputData (data);
+ // Modify the actor
+ act->actor->SetMapper (mapper);
+ }
+@@ -386,7 +386,7 @@ pcl::visualization::PCLVisualizerInterac
+ // Update the data
+ vtkPolyData *data = static_cast<vtkPolyData*>(act->actor->GetMapper ()->GetInput ());
+ data->GetPointData ()->SetScalars (scalars);
+- data->Update ();
++ //data->Update ();
+ // Modify the mapper
+ if (use_vbos_)
+ {
+@@ -402,7 +402,7 @@ pcl::visualization::PCLVisualizerInterac
+ vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
+ mapper->SetScalarRange (minmax);
+ mapper->SetScalarModeToUsePointData ();
+- mapper->SetInput (data);
++ mapper->SetInputData (data);
+ // Modify the actor
+ act->actor->SetMapper (mapper);
+ }
+diff -up ./visualization/src/pcl_plotter.cpp.vtk6 ./visualization/src/pcl_plotter.cpp
+--- ./visualization/src/pcl_plotter.cpp.vtk6 2013-08-21 02:42:40.584799051 +0000
++++ ./visualization/src/pcl_plotter.cpp 2013-08-21 02:42:56.513131764 +0000
+@@ -120,7 +120,7 @@ pcl::visualization::PCLPlotter::addPlotD
+ //adding to chart
+ //vtkPlot *line = chart_->AddPlot(vtkChart::LINE);
+ vtkPlot *line = chart_->AddPlot (type);
+- line->SetInput (table, 0, 1);
++ line->SetInputData (table, 0, 1);
+ line->SetWidth (1);
+
+ if (color == NULL) //color automatically based on the ColorScheme
+diff -up ./visualization/src/pcl_visualizer.cpp.vtk6 ./visualization/src/pcl_visualizer.cpp
+--- ./visualization/src/pcl_visualizer.cpp.vtk6 2013-07-23 17:21:02.000000000 +0000
++++ ./visualization/src/pcl_visualizer.cpp 2013-08-21 02:18:07.410911372 +0000
+@@ -508,17 +508,17 @@ pcl::visualization::PCLVisualizer::addCo
+ axes_colors->InsertNextValue (1.0);
+
+ vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
+- axes_data->Update ();
++ axes->Update ();
+ axes_data->GetPointData ()->SetScalars (axes_colors);
+
+ vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+- axes_tubes->SetInput (axes_data);
++ axes_tubes->SetInputData (axes_data);
+ axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
+ axes_tubes->SetNumberOfSides (6);
+
+ vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+ axes_mapper->SetScalarModeToUsePointData ();
+- axes_mapper->SetInput (axes_tubes->GetOutput ());
++ axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
+
+ vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
+ axes_actor->SetMapper (axes_mapper);
+@@ -547,17 +547,17 @@ pcl::visualization::PCLVisualizer::addCo
+ axes_colors->InsertNextValue (1.0);
+
+ vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
+- axes_data->Update ();
++ axes->Update ();
+ axes_data->GetPointData ()->SetScalars (axes_colors);
+
+ vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+- axes_tubes->SetInput (axes_data);
++ axes_tubes->SetInputData (axes_data);
+ axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
+ axes_tubes->SetNumberOfSides (6);
+
+ vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+ axes_mapper->SetScalarModeToUsePointData ();
+- axes_mapper->SetInput (axes_tubes->GetOutput ());
++ axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
+
+ vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
+ axes_actor->SetMapper (axes_mapper);
+@@ -617,17 +617,17 @@ pcl::visualization::PCLVisualizer::addCo
+ axes_colors->InsertNextValue (1.0);
+
+ vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
+- axes_data->Update ();
++ axes->Update ();
+ axes_data->GetPointData ()->SetScalars (axes_colors);
+
+ vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+- axes_tubes->SetInput (axes_data);
++ axes_tubes->SetInputData (axes_data);
+ axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
+ axes_tubes->SetNumberOfSides (6);
+
+ vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+ axes_mapper->SetScalarModeToUsePointData ();
+- axes_mapper->SetInput (axes_tubes->GetOutput ());
++ axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
+
+ vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
+ axes_actor->SetMapper (axes_mapper);
+@@ -835,7 +835,7 @@ pcl::visualization::PCLVisualizer::addPo
+ line_1->SetPoint1 (cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
+ line_1->SetPoint2 (p.x, p.y, p.z);
+ line_1->Update ();
+- polydata_1->AddInput (line_1->GetOutput ());
++ polydata_1->AddInputData (line_1->GetOutput ());
+ line_1_colors->InsertNextTupleValue (green);
+ }
+ polydata_1->Update ();
+@@ -862,7 +862,7 @@ pcl::visualization::PCLVisualizer::addPo
+ line_2->SetPoint1 (cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
+ line_2->SetPoint2 (p.x, p.y, p.z);
+ line_2->Update ();
+- polydata_2->AddInput (line_2->GetOutput ());
++ polydata_2->AddInputData (line_2->GetOutput ());
+ line_2_colors->InsertNextTupleValue (blue);
+ }
+ polydata_2->Update ();
+@@ -871,8 +871,8 @@ pcl::visualization::PCLVisualizer::addPo
+
+ // Assemble the two sets of lines
+ vtkSmartPointer<vtkAppendPolyData> alldata = vtkSmartPointer<vtkAppendPolyData>::New ();
+- alldata->AddInput (line_1_data);
+- alldata->AddInput (line_2_data);
++ alldata->AddInputData (line_1_data);
++ alldata->AddInputData (line_2_data);
+
+ // Create an Actor
+ vtkSmartPointer<vtkLODActor> actor;
+@@ -1094,7 +1094,7 @@ pcl::visualization::PCLVisualizer::creat
+ else
+ {
+ vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+- mapper->SetInput (data);
++ mapper->SetInputData (data);
+
+ if (use_scalars)
+ {
+@@ -1168,7 +1168,7 @@ pcl::visualization::PCLVisualizer::creat
+ else
+ {
+ vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+- mapper->SetInput (data);
++ mapper->SetInputData (data);
+
+ if (use_scalars)
+ {
+@@ -1548,9 +1548,9 @@ pcl::visualization::PCLVisualizer::setSh
+ {
+ PCL_INFO ("[pcl::visualization::PCLVisualizer::setShapeRenderingProperties] Normals do not exist in the dataset, but Gouraud shading was requested. Estimating normals...\n");
+ vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
+- normals->SetInput (actor->GetMapper ()->GetInput ());
++ normals->SetInputData (actor->GetMapper ()->GetInput ());
+ normals->Update ();
+- vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
++ vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInputData (normals->GetOutput ());
+ }
+ actor->GetProperty ()->SetInterpolationToGouraud ();
+ break;
+@@ -1561,9 +1561,9 @@ pcl::visualization::PCLVisualizer::setSh
+ {
+ PCL_INFO ("[pcl::visualization::PCLVisualizer::setShapeRenderingProperties] Normals do not exist in the dataset, but Phong shading was requested. Estimating normals...\n");
+ vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
+- normals->SetInput (actor->GetMapper ()->GetInput ());
++ normals->SetInputData (actor->GetMapper ()->GetInput() );
+ normals->Update ();
+- vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
++ vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInputData (normals->GetOutput ());
+ }
+ actor->GetProperty ()->SetInterpolationToPhong ();
+ break;
+@@ -2277,7 +2277,7 @@ pcl::visualization::PCLVisualizer::addMo
+
+ vtkSmartPointer <vtkTransformFilter> trans_filter = vtkSmartPointer<vtkTransformFilter>::New ();
+ trans_filter->SetTransform (transform);
+- trans_filter->SetInput (polydata);
++ trans_filter->SetInputData (polydata);
+ trans_filter->Update();
+
+ // Create an Actor
+@@ -2751,7 +2751,7 @@ pcl::visualization::PCLVisualizer::updat
+ // Update the data
+ vtkPolyData *data = static_cast<vtkPolyData*>(am_it->second.actor->GetMapper ()->GetInput ());
+ data->GetPointData ()->SetScalars (scalars);
+- data->Update ();
++ //color_handler->Update ();
+ // Modify the mapper
+ if (use_vbos_)
+ {
+@@ -2771,7 +2771,7 @@ pcl::visualization::PCLVisualizer::updat
+ vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ());
+ mapper->SetScalarRange (minmax);
+ mapper->SetScalarModeToUsePointData ();
+- mapper->SetInput (data);
++ mapper->SetInputData (data);
+ // Modify the actor
+ am_it->second.actor->SetMapper (mapper);
+ am_it->second.actor->Modified ();
+@@ -2876,7 +2876,7 @@ pcl::visualization::PCLVisualizer::addPo
+ poly_grid->Allocate (1, 1);
+ poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
+ poly_grid->SetPoints (poly_points);
+- poly_grid->Update ();
++ //poly_grid->Update ();
+
+ createActorFromVTKDataSet (poly_grid, actor);
+ actor->GetProperty ()->SetRepresentationToWireframe ();
+@@ -3001,7 +3001,7 @@ pcl::visualization::PCLVisualizer::updat
+ cells->Squeeze ();
+ // Set the the vertices
+ polydata->SetStrips (cells);
+- polydata->Update ();
++ //polydata->Update ();
+
+ return (true);
+ }
+@@ -3056,7 +3056,7 @@ pcl::visualization::PCLVisualizer::addPo
+
+ // Setup actor and mapper
+ vtkSmartPointer < vtkPolyDataMapper > mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+- mapper->SetInput (polyData);
++ mapper->SetInputData(polyData);
+
+ vtkSmartPointer < vtkActor > actor = vtkSmartPointer<vtkActor>::New ();
+ actor->SetMapper (mapper);
+@@ -3197,7 +3197,7 @@ pcl::visualization::PCLVisualizer::rende
+
+ vtkSmartPointer<vtkTransformFilter> trans_filter_center = vtkSmartPointer<vtkTransformFilter>::New ();
+ trans_filter_center->SetTransform (trans_center);
+- trans_filter_center->SetInput (polydata);
++ trans_filter_center->SetInputData (polydata);
+ trans_filter_center->Update ();
+
+ vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+@@ -3252,7 +3252,7 @@ pcl::visualization::PCLVisualizer::rende
+
+ // Get camera positions
+ vtkPolyData *sphere = subdivide->GetOutput ();
+- sphere->Update ();
++ subdivide->Update ();
+
+ std::vector<Eigen::Vector3f> cam_positions;
+ if (!use_vertices)
+@@ -3679,7 +3679,7 @@ pcl::visualization::PCLVisualizer::fromH
+ // Convert the PointCloud to VTK PolyData
+ convertPointCloudToVTKPolyData (geometry_handler, polydata, initcells);
+ // use the given geometry handler
+- polydata->Update ();
++ //polydata->Update ();
+
+ // Get the colors from the handler
+ bool has_colors = false;
+diff -up ./visualization/src/vtk/vtkVertexBufferObjectMapper.cxx.vtk6 ./visualization/src/vtk/vtkVertexBufferObjectMapper.cxx
+--- ./visualization/src/vtk/vtkVertexBufferObjectMapper.cxx.vtk6 2013-08-21 02:32:51.027493881 +0000
++++ ./visualization/src/vtk/vtkVertexBufferObjectMapper.cxx 2013-08-21 02:42:30.140580897 +0000
+@@ -146,7 +146,7 @@ void vtkVertexBufferObjectMapper::SetInp
+ // std::cout << "SetInput" << endl;
+ if(input)
+ {
+- this->SetInputConnection(0, input->GetProducerPort());
++ this->SetInput(input);
+ }
+ else
+ {
+@@ -162,7 +162,7 @@ void vtkVertexBufferObjectMapper::SetInp
+ // std::cout << "SetInput" << endl;
+ if(input)
+ {
+- this->SetInputConnection(0, input->GetProducerPort());
++ this->SetInput(input);
+ }
+ else
+ {
#
# Conditional build:
%bcond_without apidocs # do not build and package API docs
+%bcond_with sse # SSE/SSE2/SSE3 support
%bcond_without vtk # VTK support in libpcl_{io,surface} + libpcl_{apps,visualization} libs
#
Summary: Point Cloud Library - library for point cloud processing
Summary(pl.UTF-8): Point Cloud Library - biblioteka do operacji na chmurze punktów
Name: pcl
-Version: 1.6.0
-Release: 2
+Version: 1.7.0
+Release: 1
License: BSD
Group: Libraries
#Source0Download: http://pointclouds.org/downloads/
-Source0: http://www.pointclouds.org/assets/files/1.6.0/PCL-%{version}-Source.tar.bz2
-# Source0-md5: f83ca5d0ff290412b0807864b95eba26
-Patch0: %{name}-link.patch
-Patch1: %{name}-openni.patch
+Source0: https://github.com/PointCloudLibrary/pcl/archive/%{name}-%{version}.tar.gz
+# Source0-md5: e2ac2d2e72825d991c6d194f9586b5d8
+Patch0: %{name}-openni.patch
+Patch1: %{name}-vtk6.patch
URL: http://pointclouds.org/
BuildRequires: OpenNI-devel
BuildRequires: boost-devel >= 1.40
BuildRequires: qhull-devel
BuildRequires: python
BuildRequires: sed >= 4.0
-# FIXME: only vtk-devel is really required, the rest only because of checks in VTK cmake files
+# FIXME: only vtk-devel is really required, the rest (java,python,tcl runtimes) only because of checks in VTK cmake files
%{?with_vtk:BuildRequires: vtk-devel}
-%{?with_vtk:BuildRequires: vtk-java-devel}
-%{?with_vtk:BuildRequires: vtk-python-devel}
-%{?with_vtk:BuildRequires: vtk-tcl-devel}
+%{?with_vtk:BuildRequires: vtk-java}
+%{?with_vtk:BuildRequires: vtk-python}
+%{?with_vtk:BuildRequires: vtk-tcl}
%if %{with apidocs}
BuildRequires: doxygen
BuildRequires: python-sphinxcontrib-doxylink >= 1.3
Dokumentacja API oraz wprowadzenie do biblioteki PCL.
%prep
-%setup -q -n PCL-%{version}-Source
+%setup -q -n pcl-pcl-%{version}
%patch0 -p1
%patch1 -p1
# don't use SSE/SSE2/SSE3 just because compiler and builder host supports it
-%{__sed} -i -e '/^PCL_CHECK_FOR_SSE/d' CMakeLists.txt
+#%{__sed} -i -e '/^PCL_CHECK_FOR_SSE/d' CMakeLists.txt
%build
mkdir build
cd build
# LIB_INSTALL_DIR specified by PLD cmake macro is incompatible with what PCL expects
%cmake .. \
- -DLIB_INSTALL_DIR=%{_lib}
+ -DLIB_INSTALL_DIR=%{_lib} \
+ %{!?with_sse:-DPCL_ENABLE_SSE=OFF}
# NOTE: -j1 because of OOM on th-x86_64
%{__make} -j1
%files
%defattr(644,root,root,755)
%doc AUTHORS.txt LICENSE.txt
+%attr(755,root,root) %{_bindir}/pcl_compute_hull
+%attr(755,root,root) %{_bindir}/pcl_concatenate_points_pcd
%attr(755,root,root) %{_bindir}/pcl_convert_pcd_ascii_binary
+%attr(755,root,root) %{_bindir}/pcl_demean_cloud
+%attr(755,root,root) %{_bindir}/pcl_fast_bilateral_filter
+%attr(755,root,root) %{_bindir}/pcl_hdl_grabber
+%attr(755,root,root) %{_bindir}/pcl_linemod_detection
+%attr(755,root,root) %{_bindir}/pcl_lum
+%attr(755,root,root) %{_bindir}/pcl_match_linemod_template
+%attr(755,root,root) %{_bindir}/pcl_ndt2d
+%attr(755,root,root) %{_bindir}/pcl_ndt3d
+%attr(755,root,root) %{_bindir}/pcl_oni2pcd
+%attr(755,root,root) %{_bindir}/pcl_openni_grabber_depth_example
%attr(755,root,root) %{_bindir}/pcl_openni_grabber_example
-%attr(755,root,root) %{_bindir}/pcl_openni_io
+%attr(755,root,root) %{_bindir}/pcl_openni_pcd_recorder
+%attr(755,root,root) %{_bindir}/pcl_outofcore_print
+%attr(755,root,root) %{_bindir}/pcl_outofcore_process
+%attr(755,root,root) %{_bindir}/pcl_outofcore_viewer
+%attr(755,root,root) %{_bindir}/pcl_pcd_change_viewpoint
%attr(755,root,root) %{_bindir}/pcl_pcd_convert_NaN_nan
+%attr(755,root,root) %{_bindir}/pcl_pclzf2pcd
%attr(755,root,root) %{_bindir}/pcl_ply2obj
%attr(755,root,root) %{_bindir}/pcl_ply2ply
%attr(755,root,root) %{_bindir}/pcl_ply2raw
%attr(755,root,root) %{_bindir}/pcl_plyheader
+%attr(755,root,root) %{_bindir}/pcl_radius_filter
+%attr(755,root,root) %{_bindir}/pcl_sac_segmentation_plane
+%attr(755,root,root) %{_bindir}/pcl_train_linemod_template
+%attr(755,root,root) %{_bindir}/pcl_uniform_sampling
+%attr(755,root,root) %{_bindir}/pcl_xyz2pcd
%if %{with vtk}
-%attr(755,root,root) %{_bindir}/oni_viewer
-%attr(755,root,root) %{_bindir}/openni_fast_mesh
-%attr(755,root,root) %{_bindir}/openni_ii_normal_estimation
-%attr(755,root,root) %{_bindir}/openni_image
-%attr(755,root,root) %{_bindir}/openni_viewer
-%attr(755,root,root) %{_bindir}/openni_voxel_grid
-%attr(755,root,root) %{_bindir}/pcd_grabber_viewer
-%attr(755,root,root) %{_bindir}/pcd_viewer
%attr(755,root,root) %{_bindir}/pcl_add_gaussian_noise
%attr(755,root,root) %{_bindir}/pcl_boundary_estimation
%attr(755,root,root) %{_bindir}/pcl_cluster_extraction
%attr(755,root,root) %{_bindir}/pcl_crop_to_hull
%attr(755,root,root) %{_bindir}/pcl_elch
%attr(755,root,root) %{_bindir}/pcl_extract_feature
-%attr(755,root,root) %{_bindir}/pcl_feature_matching
%attr(755,root,root) %{_bindir}/pcl_fpfh_estimation
%attr(755,root,root) %{_bindir}/pcl_gp3_surface
+%attr(755,root,root) %{_bindir}/pcl_ground_based_rgbd_people_detector
+%attr(755,root,root) %{_bindir}/pcl_hdl_viewer_simple
%attr(755,root,root) %{_bindir}/pcl_icp
%attr(755,root,root) %{_bindir}/pcl_icp2d
+%attr(755,root,root) %{_bindir}/pcl_image_grabber_saver
+%attr(755,root,root) %{_bindir}/pcl_image_grabber_viewer
%attr(755,root,root) %{_bindir}/pcl_marching_cubes_reconstruction
%attr(755,root,root) %{_bindir}/pcl_mesh2pcd
%attr(755,root,root) %{_bindir}/pcl_mesh_sampling
%attr(755,root,root) %{_bindir}/pcl_mls_smoothing
-%attr(755,root,root) %{_bindir}/pcl_multiscale_feature_persistence_example
-%attr(755,root,root) %{_bindir}/pcl_nn_classification_example
%attr(755,root,root) %{_bindir}/pcl_normal_estimation
+%attr(755,root,root) %{_bindir}/pcl_obj2vtk
+%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_accepted_hypotheses
+%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_hash_table
+%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_model_opps
+%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_orr_octree
+%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_orr_octree_zprojection
+%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_result
+%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_scene_opps
%attr(755,root,root) %{_bindir}/pcl_octree_viewer
-%attr(755,root,root) %{_bindir}/pcl_openni_3d_concave_hull
-%attr(755,root,root) %{_bindir}/pcl_openni_3d_convex_hull
-%attr(755,root,root) %{_bindir}/pcl_openni_boundary_estimation
-%attr(755,root,root) %{_bindir}/pcl_openni_change_viewer
-%attr(755,root,root) %{_bindir}/pcl_openni_fast_mesh
-%attr(755,root,root) %{_bindir}/pcl_openni_feature_persistence
-%attr(755,root,root) %{_bindir}/pcl_openni_floodfill_planar_segmentation
-%attr(755,root,root) %{_bindir}/pcl_openni_grab_frame
-%attr(755,root,root) %{_bindir}/pcl_openni_ii_normal_estimation
-%attr(755,root,root) %{_bindir}/pcl_openni_mls_smoothing
-%attr(755,root,root) %{_bindir}/pcl_openni_organized_multi_plane_segmentation
-%attr(755,root,root) %{_bindir}/pcl_openni_planar_convex_hull
-%attr(755,root,root) %{_bindir}/pcl_openni_planar_segmentation
+%attr(755,root,root) %{_bindir}/pcl_oni_viewer
+%attr(755,root,root) %{_bindir}/pcl_openni_image
%attr(755,root,root) %{_bindir}/pcl_openni_save_image
-%attr(755,root,root) %{_bindir}/pcl_openni_stream_compression
-%attr(755,root,root) %{_bindir}/pcl_openni_tracking
-%attr(755,root,root) %{_bindir}/pcl_openni_uniform_sampling
-%attr(755,root,root) %{_bindir}/pcl_openni_voxel_grid
+%attr(755,root,root) %{_bindir}/pcl_openni_viewer
+%attr(755,root,root) %{_bindir}/pcl_organized_pcd_to_png
%attr(755,root,root) %{_bindir}/pcl_outlier_removal
%attr(755,root,root) %{_bindir}/pcl_passthrough_filter
%attr(755,root,root) %{_bindir}/pcl_pcd2ply
%attr(755,root,root) %{_bindir}/pcl_pcd2vtk
-%attr(755,root,root) %{_bindir}/pcl_pcd_organized_multi_plane_segmentation
+%attr(755,root,root) %{_bindir}/pcl_pcd_grabber_viewer
+%attr(755,root,root) %{_bindir}/pcl_pcd_image_viewer
%attr(755,root,root) %{_bindir}/pcl_plane_projection
%attr(755,root,root) %{_bindir}/pcl_ply2pcd
+%attr(755,root,root) %{_bindir}/pcl_ply2vtk
+%attr(755,root,root) %{_bindir}/pcl_png2pcd
%attr(755,root,root) %{_bindir}/pcl_poisson_reconstruction
-%attr(755,root,root) %{_bindir}/pcl_ppf_object_recognition
-%attr(755,root,root) %{_bindir}/pcl_pyramid_surface_matching
%attr(755,root,root) %{_bindir}/pcl_registration_visualizer
%attr(755,root,root) %{_bindir}/pcl_spin_estimation
-%attr(755,root,root) %{_bindir}/pcl_statistical_multiscale_interest_region_extraction_example
-%attr(755,root,root) %{_bindir}/pcl_surfel_smoothing_test
-%attr(755,root,root) %{_bindir}/pcl_test_search_speed
+%attr(755,root,root) %{_bindir}/pcl_tiff2pcd
+%attr(755,root,root) %{_bindir}/pcl_timed_trigger_test
%attr(755,root,root) %{_bindir}/pcl_transform_from_viewpoint
%attr(755,root,root) %{_bindir}/pcl_transform_point_cloud
%attr(755,root,root) %{_bindir}/pcl_vfh_estimation
+%attr(755,root,root) %{_bindir}/pcl_viewer
%attr(755,root,root) %{_bindir}/pcl_virtual_scanner
%attr(755,root,root) %{_bindir}/pcl_voxel_grid
-%attr(755,root,root) %{_bindir}/timed_trigger_test
+%attr(755,root,root) %{_bindir}/pcl_voxel_grid_occlusion_estimation
+%attr(755,root,root) %{_bindir}/pcl_vtk2obj
+%attr(755,root,root) %{_bindir}/pcl_vtk2pcd
+%attr(755,root,root) %{_bindir}/pcl_vtk2ply
%endif
%attr(755,root,root) %{_libdir}/libpcl_common.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_common.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_common.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_features.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_features.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_features.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_filters.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_filters.so.1.6
-%attr(755,root,root) %{_libdir}/libpcl_geometry.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_geometry.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_filters.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_io.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_io.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_io.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_io_ply.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_io_ply.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_io_ply.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_kdtree.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_kdtree.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_kdtree.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_keypoints.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_keypoints.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_keypoints.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_octree.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_octree.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_octree.so.1.7
+%attr(755,root,root) %{_libdir}/libpcl_outofcore.so.*.*.*
+%attr(755,root,root) %ghost %{_libdir}/libpcl_outofcore.so.1.7
+%attr(755,root,root) %{_libdir}/libpcl_recognition.so.*.*.*
+%attr(755,root,root) %ghost %{_libdir}/libpcl_recognition.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_registration.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_registration.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_registration.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_sample_consensus.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_sample_consensus.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_sample_consensus.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_search.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_search.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_search.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_segmentation.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_segmentation.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_segmentation.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_surface.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_surface.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_surface.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_tracking.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_tracking.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_tracking.so.1.7
%if %{with vtk}
-%attr(755,root,root) %{_libdir}/libpcl_apps.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_apps.so.1.6
+%attr(755,root,root) %{_libdir}/libpcl_people.so.*.*.*
+%attr(755,root,root) %ghost %{_libdir}/libpcl_people.so.1.7
%attr(755,root,root) %{_libdir}/libpcl_visualization.so.*.*.*
-%attr(755,root,root) %ghost %{_libdir}/libpcl_visualization.so.1.6
+%attr(755,root,root) %ghost %{_libdir}/libpcl_visualization.so.1.7
%endif
%files devel
%attr(755,root,root) %{_libdir}/libpcl_common.so
%attr(755,root,root) %{_libdir}/libpcl_features.so
%attr(755,root,root) %{_libdir}/libpcl_filters.so
-%attr(755,root,root) %{_libdir}/libpcl_geometry.so
%attr(755,root,root) %{_libdir}/libpcl_io.so
%attr(755,root,root) %{_libdir}/libpcl_io_ply.so
%attr(755,root,root) %{_libdir}/libpcl_kdtree.so
%attr(755,root,root) %{_libdir}/libpcl_keypoints.so
%attr(755,root,root) %{_libdir}/libpcl_octree.so
+%attr(755,root,root) %{_libdir}/libpcl_outofcore.so
+%attr(755,root,root) %{_libdir}/libpcl_recognition.so
%attr(755,root,root) %{_libdir}/libpcl_registration.so
%attr(755,root,root) %{_libdir}/libpcl_sample_consensus.so
%attr(755,root,root) %{_libdir}/libpcl_search.so
%attr(755,root,root) %{_libdir}/libpcl_surface.so
%attr(755,root,root) %{_libdir}/libpcl_tracking.so
%if %{with vtk}
-%attr(755,root,root) %{_libdir}/libpcl_apps.so
+%attr(755,root,root) %{_libdir}/libpcl_people.so
%attr(755,root,root) %{_libdir}/libpcl_visualization.so
%endif
-%{_includedir}/pcl-1.6
-%{_pkgconfigdir}/pcl_common-1.6.pc
-%{_pkgconfigdir}/pcl_features-1.6.pc
-%{_pkgconfigdir}/pcl_filters-1.6.pc
-%{_pkgconfigdir}/pcl_geometry-1.6.pc
-%{_pkgconfigdir}/pcl_io-1.6.pc
-%{_pkgconfigdir}/pcl_kdtree-1.6.pc
-%{_pkgconfigdir}/pcl_keypoints-1.6.pc
-%{_pkgconfigdir}/pcl_octree-1.6.pc
-%{_pkgconfigdir}/pcl_registration-1.6.pc
-%{_pkgconfigdir}/pcl_sample_consensus-1.6.pc
-%{_pkgconfigdir}/pcl_search-1.6.pc
-%{_pkgconfigdir}/pcl_segmentation-1.6.pc
-%{_pkgconfigdir}/pcl_surface-1.6.pc
-%{_pkgconfigdir}/pcl_tracking-1.6.pc
+%{_includedir}/pcl-1.7
+%{_pkgconfigdir}/pcl_common-1.7.pc
+%{_pkgconfigdir}/pcl_features-1.7.pc
+%{_pkgconfigdir}/pcl_filters-1.7.pc
+%{_pkgconfigdir}/pcl_io-1.7.pc
+%{_pkgconfigdir}/pcl_kdtree-1.7.pc
+%{_pkgconfigdir}/pcl_keypoints-1.7.pc
+%{_pkgconfigdir}/pcl_octree-1.7.pc
+%{_pkgconfigdir}/pcl_outofcore-1.7.pc
+%{_pkgconfigdir}/pcl_recognition-1.7.pc
+%{_pkgconfigdir}/pcl_registration-1.7.pc
+%{_pkgconfigdir}/pcl_sample_consensus-1.7.pc
+%{_pkgconfigdir}/pcl_search-1.7.pc
+%{_pkgconfigdir}/pcl_segmentation-1.7.pc
+%{_pkgconfigdir}/pcl_surface-1.7.pc
+%{_pkgconfigdir}/pcl_tracking-1.7.pc
%if %{with vtk}
-%{_pkgconfigdir}/pcl_apps-1.6.pc
-%{_pkgconfigdir}/pcl_visualization-1.6.pc
+%{_pkgconfigdir}/pcl_people-1.7.pc
+%{_pkgconfigdir}/pcl_visualization-1.7.pc
%endif
-%dir %{_datadir}/pcl-1.6
-%{_datadir}/pcl-1.6/PCLConfig*.cmake
+%dir %{_datadir}/pcl-1.7
+%{_datadir}/pcl-1.7/PCLConfig*.cmake
%if %{with apidocs}
%files apidocs
%defattr(644,root,root,755)
-%dir %{_docdir}/pcl-1.6
-%{_docdir}/pcl-1.6/html
-%{_docdir}/pcl-1.6/tutorials
+%dir %{_docdir}/pcl-1.7
+%{_docdir}/pcl-1.7/html
+%{_docdir}/pcl-1.7/tutorials
%endif
projects / packages / pcl.git / commitdiff