Start of migrating cloud_composer to VTK 9 support.

PointCloudLibrary · Jul 10, 2020 · c3a8fb6 · c3a8fb6
1 parent 54f34a6
commit c3a8fb6
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Showing 15 changed files with 106 additions and 11 deletions.
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_view.h
@@ -44,6 +44,18 @@
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h>
 
+#include <vtkSmartPointer.h>
+#include <vtkOrientationMarkerWidget.h>
+#include <vtkAxesActor.h>
+#include <vtkVersion.h>
+
+#if VTK_MAJOR_VERSION > 8
+#include <QVTKOpenGLNativeWidget.h>
+#else
+#include <QVTKWidget.h>
+#endif
+
+
 class QItemSelection;
 class QStandardItem;
 
@@ -70,8 +82,15 @@ namespace pcl
       ProjectModel* 
       getModel () const { return model_; }
 
-      QVTKWidget* 
-      getQVTK() const {return qvtk_; }
+
+#if VTK_MAJOR_VERSION > 8
+      QVTKOpenGLNativeWidget*
+        getQVTKOpenGLNativeWidget() const { return qvtk_; }
+#else
+      QVTKWidget*
+        getQVTK() const { return qvtk_; }
+#endif
+
 
       pcl::visualization::PCLVisualizer::Ptr
       getPCLVisualizer () const { return vis_; }
@@ -141,7 +160,13 @@ namespace pcl
 
       pcl::visualization::PCLVisualizer::Ptr vis_;
       ProjectModel* model_;
+
+#if VTK_MAJOR_VERSION > 8
+      QVTKOpenGLNativeWidget* qvtk_;
+#else
       QVTKWidget* qvtk_;
+#endif
+
       vtkSmartPointer<InteractorStyleSwitch> style_switch_;
 
       vtkSmartPointer<vtkOrientationMarkerWidget> axes_widget_;

diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h
@@ -43,6 +43,14 @@
 #include <pcl/apps/cloud_composer/items/cloud_composer_item.h>
 #include <pcl/visualization/pcl_plotter.h>
 
+#include <vtkVersion.h>
+
+#if VTK_MAJOR_VERSION > 8
+#include <QVTKOpenGLNativeWidget.h>
+#else
+#include <QVTKWidget.h>
+#endif
+
 class QVTKWidget;
 
 namespace pcl
@@ -74,7 +82,11 @@ namespace pcl
         pcl::PointCloud<pcl::FPFHSignature33>::Ptr fpfh_ptr_;
         double radius_;
         pcl::visualization::PCLPlotter::Ptr plot_;
+#if VTK_MAJOR_VERSION > 8
+        QVTKOpenGLNativeWidget* qvtk_;
+#else
         QVTKWidget *qvtk_;
+#endif
         QWidget *hist_page_;
     };
 

diff --git a/...mposer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h b/...mposer/include/pcl/apps/cloud_composer/point_selectors/click_trackball_interactor_style.h
@@ -39,6 +39,8 @@
 
 #include <pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h>
 
+#include <vtkInteractorStyleTrackballActor.h>
+
 namespace pcl
 {
   namespace cloud_composer

diff --git a/.../cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h b/.../cloud_composer/include/pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h
@@ -39,12 +39,19 @@
 
 #include <QMap>
 
-#include <pcl/visualization/vtk.h>
 #include <pcl/visualization/interactor_style.h>
 #include <pcl/visualization/common/actor_map.h>
 #include <pcl/visualization/common/ren_win_interact_map.h>
 #include <pcl/visualization/pcl_visualizer.h>
 
+#include <vtkSmartPointer.h>
+#include <vtkAreaPicker.h>
+#include <vtkPointPicker.h>
+#include <vtkRenderWindowInteractor.h>
+#include <vtkCommand.h>
+#include <vtkRendererCollection.h>
+#include <vtkInteractorStyle.h>
+
 class QVTKWidget;
 
 namespace pcl

diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h
@@ -37,7 +37,6 @@
 
 #pragma once
 
-#include <pcl/visualization/vtk.h>
 #include <pcl/apps/cloud_composer/items/cloud_item.h>
 
 namespace pcl

diff --git a/...d_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h b/...d_composer/include/pcl/apps/cloud_composer/point_selectors/rectangular_frustum_selector.h
@@ -39,6 +39,10 @@
 
 #include <pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h>
 
+#include <vtkSmartPointer.h>
+#include <vtkRendererCollection.h>
+#include <vtkInteractorStyleRubberBandpick.h>
+
 namespace pcl
 {
   namespace cloud_composer

diff --git a/...ser/include/pcl/apps/cloud_composer/point_selectors/selected_trackball_interactor_style.h b/...ser/include/pcl/apps/cloud_composer/point_selectors/selected_trackball_interactor_style.h
@@ -37,6 +37,10 @@
 
 #include <pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h>
 
+#include <vtkInteractorStyleTrackballActor.h>
+#include <vtkSmartPointer.h>
+#include <vtkMatrix4x4.h>
+
 namespace pcl
 {
   namespace cloud_composer

diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/selection_event.h
@@ -37,9 +37,14 @@
 
 #pragma once
 
-#include <pcl/visualization/vtk.h>
 #include <pcl/apps/cloud_composer/items/cloud_item.h>
 
+#include <vtkSmartPointer.h>
+#include <vtkPolyData.h>
+#include <vtkActor.h>
+#include <vtkDataSetMapper.h>
+#include <vtkRenderer.h>
+
 namespace pcl
 {
   namespace cloud_composer

diff --git a/apps/cloud_composer/src/cloud_view.cpp b/apps/cloud_composer/src/cloud_view.cpp
@@ -7,15 +7,20 @@
 
 #include <QDebug>
 
-#include <QVTKWidget.h>
 
 pcl::cloud_composer::CloudView::CloudView (QWidget* parent)
   : QWidget (parent)
 {
   vis_.reset (new pcl::visualization::PCLVisualizer ("", false));
   vis_->getInteractorStyle ()->setKeyboardModifier (pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
   //Create the QVTKWidget
-  qvtk_ = new QVTKWidget (this);
+
+#if VTK_MAJOR_VERSION > 8
+  qvtk_ = new QVTKOpenGLNativeWidget(this);
+#else
+  qvtk_ = new QVTKWidget(this);
+#endif
+
   qvtk_->SetRenderWindow (vis_->getRenderWindow ());
   initializeInteractorSwitch ();
   vis_->setupInteractor (qvtk_->GetInteractor (), qvtk_->GetRenderWindow (), style_switch_);
@@ -30,8 +35,14 @@ pcl::cloud_composer::CloudView::CloudView (ProjectModel* model, QWidget* parent)
   model_ = model;
   vis_.reset (new pcl::visualization::PCLVisualizer ("", false));
  // vis_->getInteractorStyle ()->setKeyboardModifier (pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
-  //Create the QVTKWidget
-  qvtk_ = new QVTKWidget (this);
+
+ //Create the QVTKWidget
+#if VTK_MAJOR_VERSION > 8
+  qvtk_ = new QVTKOpenGLNativeWidget(this);
+#else
+  qvtk_ = new QVTKWidget(this);
+#endif
+
   qvtk_->SetRenderWindow (vis_->getRenderWindow ());
   initializeInteractorSwitch ();
   vis_->setupInteractor (qvtk_->GetInteractor (), qvtk_->GetRenderWindow (), style_switch_);

diff --git a/apps/cloud_composer/src/items/fpfh_item.cpp b/apps/cloud_composer/src/items/fpfh_item.cpp
@@ -3,8 +3,6 @@
 
 #include <QGridLayout>
 
-#include <QVTKWidget.h>
-
 pcl::cloud_composer::FPFHItem::FPFHItem (QString name, const pcl::PointCloud<pcl::FPFHSignature33>::Ptr& fpfh_ptr, double radius)
   : CloudComposerItem (std::move(name))
   , fpfh_ptr_ (fpfh_ptr)
@@ -40,7 +38,11 @@ pcl::cloud_composer::FPFHItem::getInspectorTabs ()
   if (!plot_)
   {
     plot_.reset (new pcl::visualization::PCLPlotter);
+#if VTK_MAJOR_VERSION > 8
+    qvtk_ = new QVTKOpenGLNativeWidget();
+#else
     qvtk_ = new QVTKWidget ();
+#endif
     hist_page_ = new QWidget ();
     QGridLayout *mainLayout = new QGridLayout (hist_page_);
     mainLayout-> addWidget (qvtk_,0,0);

diff --git a/apps/cloud_composer/src/point_selectors/click_trackball_interactor_style.cpp b/apps/cloud_composer/src/point_selectors/click_trackball_interactor_style.cpp
@@ -4,6 +4,8 @@
 
 #include <QDebug>
 
+#include <vtkTransform.h>
+
 namespace pcl
 {
   namespace cloud_composer

diff --git a/apps/cloud_composer/src/point_selectors/interactor_style_switch.cpp b/apps/cloud_composer/src/point_selectors/interactor_style_switch.cpp
@@ -6,6 +6,8 @@
 
 #include <QDebug>
 
+#include <vtkCallbackCommand.h>
+
 namespace pcl
 {
   namespace cloud_composer

diff --git a/apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp b/apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp
@@ -3,6 +3,13 @@
 
 #include <QDebug>
 
+#include <vtkSmartPointer.h>
+#include <vtkIdFilter.h>
+#include <vtkExtractGeometry.h>
+#include <vtkVertexGlyphFilter.h>
+#include <vtkPlanes.h>
+#include <vtkAreaPicker.h>
+
 namespace pcl
 {
   namespace cloud_composer

diff --git a/apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp b/apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp
@@ -4,6 +4,14 @@
 #include <QDebug>
 #include <QItemSelectionModel>
 
+#include <vtkSmartPointer.h>
+#include <vtkMatrix4x4.h>
+#include <vtkLODActor.h>
+#include <vtkInteractorStyleTrackballActor.h>
+#include <vtkRenderWindowInteractor.h>
+#include <vtkTransform.h>
+
+
 namespace pcl
 {
   namespace cloud_composer

diff --git a/apps/cloud_composer/src/project_model.cpp b/apps/cloud_composer/src/project_model.cpp
@@ -14,6 +14,11 @@
 #include <QMessageBox>
 #include <QThread>
 
+#include <vtkSmartPointer.h>
+#include <vtkImageData.h>
+#include <vtkImageReader2Factory.h>
+#include <vtkImageReader2.h>
+
 pcl::cloud_composer::ProjectModel::ProjectModel (QObject* parent)
   : QStandardItemModel (parent)
 {