Update for qt5 + fix for vtk7

3 files changed, 419 insertions, 46 deletions

diff --git a/.SRCINFO b/.SRCINFO
index 13ee963b5638..cad2980c01b3 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,12 +1,15 @@
+# Generated by mksrcinfo v8
+# Thu Feb 18 15:12:54 UTC 2016
 pkgbase = pcl
 	pkgdesc = A comprehensive open source library for n-D Point Clouds and 3D geometry processing
-	pkgver = 1.7.2
+	pkgver = 1.8.0rc1
 	pkgrel = 1
 	url = http://www.pointclouds.org
 	arch = x86_64
 	arch = i686
 	license = BSD
 	makedepends = cmake
+	makedepends = gl2ps
 	depends = boost
 	depends = eigen
 	depends = flann
@@ -14,12 +17,15 @@ pkgbase = pcl
 	depends = qhull
 	depends = qt5-base
 	depends = glu
-	optdepends = openmpi
+	depends = qt5-webkit
+	depends = openmpi
 	optdepends = cuda
 	optdepends = openni2
 	optdepends = python-sphinx
-	source = https://github.com/PointCloudLibrary/pcl/archive/pcl-1.7.2.tar.gz
-	md5sums = 02c72eb6760fcb1f2e359ad8871b9968
+	source = https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0rc1.tar.gz
+	source = vtk7.patch
+	sha256sums = 18ff4519026a7885d2fd0ee1d06939a7755e83e082840e4929fb2883948e5142
+	sha256sums = eaf5f90ded00d47ae8fbb34c3cc8878e694f44b684038a9c593c432035a0b2c1
 
 pkgname = pcl
 
diff --git a/PKGBUILD b/PKGBUILD
index 0df54c1114f6..c4e69c8f898d 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -1,64 +1,71 @@
-# Maintainer : Yuxin Wu <ppwwyyxxc@gmail.com>
+# Maintainer: Benjamin Chrétien <chretien dot b plus aur at gmail dot com>
+# Contributor: Yuxin Wu <ppwwyyxxc@gmail.com>
 # Contributor: Sven-Hendrik Haase <sh@lutzhaase.com>
 # Contributor: hauptmech
 # Contributor: figo.zhang
 # Contributor: lubosz
 
 pkgname=pcl
-pkgver=1.7.2
+pkgver=1.8.0rc1
 pkgrel=1
 pkgdesc="A comprehensive open source library for n-D Point Clouds and 3D geometry processing"
 arch=('x86_64' 'i686')
 url='http://www.pointclouds.org'
 license=('BSD')
-depends=('boost' 'eigen' 'flann' 'vtk' 'qhull' 'qt5-base' 'glu')
-makedepends=('cmake')
-optdepends=('openmpi' 'cuda' 'openni2' 'python-sphinx')
-source=("https://github.com/PointCloudLibrary/pcl/archive/pcl-${pkgver}.tar.gz")
-md5sums=('02c72eb6760fcb1f2e359ad8871b9968')
+depends=('boost' 'eigen' 'flann' 'vtk' 'qhull' 'qt5-base' 'glu' 'qt5-webkit' 'openmpi')
+makedepends=('cmake' 'gl2ps')
+optdepends=('cuda' 'openni2' 'python-sphinx')
+source=("https://github.com/PointCloudLibrary/pcl/archive/pcl-${pkgver}.tar.gz"
+        "vtk7.patch")
+sha256sums=('18ff4519026a7885d2fd0ee1d06939a7755e83e082840e4929fb2883948e5142'
+            'eaf5f90ded00d47ae8fbb34c3cc8878e694f44b684038a9c593c432035a0b2c1')
 
-build() {
-	cd $srcdir/pcl-pcl-$pkgver
+prepare() {
+  cd "${srcdir}/pcl-pcl-${pkgver}"
 
-	# Patch to support boost 1.5.6:
-	# 1. Api change. See http://www.pcl-users.org/PCL-compilation-errors-Please-help-me-td4035209.html
-	# This patch is not necessary for now.
-	# sed -i "s/boost::property_tree::xml_writer_settings.*/boost::property_tree::xml_writer_settings<std::string> settings = boost::property_tree::xml_writer_make_settings<std::string>('\\\t', 1);/g" io/src/lzf_image_io.cpp
-	# 2. Qt moc parser fails on some boost headers files. Try to get around.
-	grep -rl '#include <boost/date_time/posix_time/posix_time.hpp>' . \
- 		| xargs sed -i "s/#include <boost.*posix_time.hpp>/#ifndef Q_MOC_RUN\n\r#include <boost\\/date_time\\/posix_time\\/posix_time.hpp>\n\r#endif/g"
+  # Patch to support boost 1.5.6:
+  # 1. Api change. See http://www.pcl-users.org/PCL-compilation-errors-Please-help-me-td4035209.html
+  # This patch is not necessary for now.
+  # sed -i "s/boost::property_tree::xml_writer_settings.*/boost::property_tree::xml_writer_settings<std::string> settings = boost::property_tree::xml_writer_make_settings<std::string>('\\\t', 1);/g" io/src/lzf_image_io.cpp
+  # 2. Qt moc parser fails on some boost headers files. Try to get around.
+  grep -rl '#include <boost/date_time/posix_time/posix_time.hpp>' . \
+    | xargs sed -i "s/#include <boost.*posix_time.hpp>/#ifndef Q_MOC_RUN\n\r#include <boost\\/date_time\\/posix_time\\/posix_time.hpp>\n\r#endif/g"
 
-	[[ -d build ]] && rm -r build
-	mkdir -p build && cd build
+  patch -p1 < ../vtk7.patch
 
-    # -DBUILD_gpu_people=OFF \ Disable until CUDA npp detection is fixed in cmake
-    cmake .. \
-        -DCMAKE_BUILD_TYPE=Release \
-        -DCMAKE_INSTALL_PREFIX=/usr \
-        -DBUILD_apps=ON \
-        -DBUILD_apps_cloud_composer=ON \
-        -DBUILD_apps_in_hand_scanner=ON \
-        -DBUILD_apps_modeler=ON \
-        -DBUILD_apps_point_cloud_editor=ON \
-        -DBUILD_examples=ON \
-        -DBUILD_global_tests=OFF \
-        -DBUILD_surface_on_nurbs=ON \
-		-DBUILD_CUDA=ON \
-		-DBUILD_cuda_io=ON \
-		-DBUILD_cuda_apps=ON \
-		-DBUILD_GPU=ON \
-		-DBUILD_gpu_surface=ON \
-		-DBUILD_gpu_tracking=ON \
-		-DBUILD_app_3d_rec_framework=ON \
-		-DBUILD_simulation=ON
+  # [[ -d build ]] && rm -r build
+  mkdir -p build && cd build
 
-	make
+  # -DBUILD_gpu_people=OFF \ Disable until CUDA npp detection is fixed in cmake
+  cmake .. \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX=/usr \
+    -DBUILD_apps=ON \
+    -DBUILD_apps_cloud_composer=OFF \
+    -DBUILD_apps_in_hand_scanner=ON \
+    -DBUILD_apps_modeler=ON \
+    -DBUILD_apps_point_cloud_editor=OFF \
+    -DBUILD_examples=ON \
+    -DBUILD_global_tests=OFF \
+    -DBUILD_surface_on_nurbs=ON \
+    -DBUILD_CUDA=ON \
+    -DBUILD_cuda_io=ON \
+    -DBUILD_cuda_apps=ON \
+    -DBUILD_GPU=ON \
+    -DBUILD_gpu_surface=ON \
+    -DBUILD_gpu_tracking=ON \
+    -DBUILD_app_3d_rec_framework=ON \
+    -DBUILD_simulation=ON
 }
 
-package() {
-  cd $srcdir/pcl-pcl-$pkgver/build
+build() {
+  cd "${srcdir}/pcl-pcl-${pkgver}/build"
+  make
+}
 
-  make DESTDIR=$pkgdir install
+package() {
+  cd "${srcdir}/pcl-pcl-${pkgver}/build"
+  make DESTDIR=${pkgdir} install
 
   install -Dm644 ../LICENSE.txt "${pkgdir}/usr/share/licenses/${pkgname}/LICENSE"
 }
diff --git a/vtk7.patch b/vtk7.patch
new file mode 100644
index 000000000000..2193b5661907
--- /dev/null
+++ b/vtk7.patch
@@ -0,0 +1,360 @@
+From 73e727825e80e99adbc64658443d58de70d5a787 Mon Sep 17 00:00:00 2001
+From: Sergey Alexandrov <alexandrov88@gmail.com>
+Date: Thu, 11 Feb 2016 22:19:01 +0100
+Subject: Use vtkTextureUnitManager to query the number of available texture
+ units
+
+The new OpenGL2 backend does not have vktOpenGLHardwareSupport class
+which was used before.
+
+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.
+
+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.
+
+Update documentation for setUseVbos() function
+
+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/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/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 ${VTK_RENDERING_BACKEND_OPENGL_VERSION}
++
+diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
+index 26bfd7c..940fc8e 100644
+--- a/visualization/CMakeLists.txt
++++ b/visualization/CMakeLists.txt
+@@ -50,8 +50,6 @@ if(build)
+         src/common/float_image_utils.cpp
+         src/vtk/pcl_image_canvas_source_2d.cpp
+         src/vtk/pcl_context_item.cpp
+-        src/vtk/vtkVertexBufferObject.cxx
+-        src/vtk/vtkVertexBufferObjectMapper.cxx
+         src/vtk/vtkRenderWindowInteractorFix.cpp
+         )
+     if("${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/include/pcl/visualization/interactor_style.h b/visualization/include/pcl/visualization/interactor_style.h
+index 7cc7210..6b64fc5 100644
+--- a/visualization/include/pcl/visualization/interactor_style.h
++++ b/visualization/include/pcl/visualization/interactor_style.h
+@@ -157,8 +157,10 @@ namespace pcl
+         void 
+         setRendererCollection (vtkSmartPointer<vtkRendererCollection> &rens) { rens_ = rens; }
+ 
+-        /** \brief Pass a pointer to the actor map
+-          * \param[in] use_vbos
++        /** \brief Use Vertex Buffer Objects renderers.
++          * This is an optimization for the obsolete OpenGL backend. Modern OpenGL2 backend (VTK ≥ 6.3) uses vertex
++          * buffer objects by default, transparently for the user.
++          * \param[in] use_vbos set to true to use VBOs
+           */
+         inline void
+         setUseVbos (const bool use_vbos) { use_vbos_ = use_vbos; }
+@@ -282,7 +284,7 @@ namespace pcl
+         /** \brief The maximum resizeable window width/height. */
+         int max_win_height_, max_win_width_;
+ 
+-        /** \brief The maximum resizeable window width/height. */
++        /** \brief Boolean that holds whether or not to use the vtkVertexBufferObjectMapper*/
+         bool use_vbos_;
+ 
+         /** \brief Set to true if the grid actor is enabled. */
+diff --git a/visualization/include/pcl/visualization/pcl_visualizer.h b/visualization/include/pcl/visualization/pcl_visualizer.h
+index 418c3c2..f62dc98 100644
+--- a/visualization/include/pcl/visualization/pcl_visualizer.h
++++ b/visualization/include/pcl/visualization/pcl_visualizer.h
+@@ -1859,6 +1859,8 @@ namespace pcl
+         setSize (int xw, int yw);
+ 
+         /** \brief Use Vertex Buffer Objects renderers.
++          * This is an optimization for the obsolete OpenGL backend. Modern OpenGL2 backend (VTK ≥ 6.3) uses vertex
++          * buffer objects by default, transparently for the user.
+           * \param[in] use_vbos set to true to use VBOs 
+           */
+         void
+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 dc91674..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>
+@@ -84,7 +87,6 @@
+ #include <vtkRenderWindowInteractor.h>
+ #include <vtkAreaPicker.h>
+ #include <vtkXYPlotActor.h>
+-#include <vtkOpenGLHardwareSupport.h>
+ #include <vtkOpenGLRenderWindow.h>
+ #include <vtkJPEGReader.h>
+ #include <vtkBMPReader.h>
+@@ -92,6 +94,7 @@
+ #include <vtkPNGReader.h>
+ #include <vtkTIFFReader.h>
+ #include <vtkLookupTable.h>
++#include <vtkTextureUnitManager.h>
+ 
+ #include <pcl/visualization/common/shapes.h>
+ #include <pcl/visualization/pcl_visualizer.h>
+@@ -1079,6 +1082,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
+   if (!actor)
+     actor = vtkSmartPointer<vtkLODActor>::New ();
+ 
++#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
+   if (use_vbos_)
+   {
+     vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
+@@ -1111,6 +1115,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
+     actor->SetMapper (mapper);
+   }
+   else
++#endif
+   {
+     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+ #if VTK_MAJOR_VERSION < 6
+@@ -1157,6 +1162,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
+   if (!actor)
+     actor = vtkSmartPointer<vtkActor>::New ();
+ 
++#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
+   if (use_vbos_)
+   {
+     vtkSmartPointer<vtkVertexBufferObjectMapper> mapper = vtkSmartPointer<vtkVertexBufferObjectMapper>::New ();
+@@ -1189,6 +1195,7 @@ pcl::visualization::PCLVisualizer::createActorFromVTKDataSet (const vtkSmartPoin
+     actor->SetMapper (mapper);
+   }
+   else
++#endif
+   {
+     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+ #if VTK_MAJOR_VERSION < 6
+@@ -2771,6 +2778,7 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
+   vtkPolyData *data = static_cast<vtkPolyData*>(am_it->second.actor->GetMapper ()->GetInput ());
+   data->GetPointData ()->SetScalars (scalars);
+   // Modify the mapper
++#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
+   if (use_vbos_)
+   {
+     vtkVertexBufferObjectMapper* mapper = static_cast<vtkVertexBufferObjectMapper*>(am_it->second.actor->GetMapper ());
+@@ -2785,6 +2793,7 @@ pcl::visualization::PCLVisualizer::updateColorHandlerIndex (const std::string &i
+     //style_->setCloudActorMap (cloud_actor_map_);
+   }
+   else
++#endif
+   {
+     vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ());
+     mapper->SetScalarRange (minmax);
+@@ -3223,19 +3232,18 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
+ #endif
+ 
+   vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
+-  vtkOpenGLHardwareSupport* hardware = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetHardwareSupport ();
+-  if (!hardware)
++  vtkTextureUnitManager* tex_manager = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetTextureUnitManager ();
++  if (!tex_manager)
+     return (false);
+-  bool supported = hardware->GetSupportsMultiTexturing ();
+   // Check if hardware support multi texture
+-  std::size_t texture_units (hardware->GetNumberOfFixedTextureUnits ());
+-  if ((mesh.tex_materials.size () > 1) && supported && (texture_units > 1))
++  int texture_units = tex_manager->GetNumberOfTextureUnits ();
++  if ((mesh.tex_materials.size () > 1) && (texture_units > 1))
+   {
+     if (texture_units < mesh.tex_materials.size ())
+       PCL_WARN ("[PCLVisualizer::addTextureMesh] GPU texture units %d < mesh textures %d!\n",
+                 texture_units, mesh.tex_materials.size ());
+     // Load textures
+-    std::size_t last_tex_id = std::min (mesh.tex_materials.size (), texture_units);
++    std::size_t last_tex_id = std::min (static_cast<int> (mesh.tex_materials.size ()), texture_units);
+     int tu = vtkProperty::VTK_TEXTURE_UNIT_0;
+     std::size_t tex_id = 0;
+     while (tex_id < last_tex_id)
+@@ -3279,7 +3287,7 @@ pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
+   } // end of multi texturing
+   else
+   {
+-    if ((mesh.tex_materials.size () > 1) && (!supported || texture_units < 2))
++    if ((mesh.tex_materials.size () > 1) && (texture_units < 2))
+       PCL_WARN ("[PCLVisualizer::addTextureMesh] Your GPU doesn't support multi texturing. "
+                 "Will use first one only!\n");
+ 
+@@ -4297,8 +4305,12 @@ pcl::visualization::PCLVisualizer::resetStoppedFlag ()
+ void
+ pcl::visualization::PCLVisualizer::setUseVbos (bool use_vbos)
+ {
++#if VTK_RENDERING_BACKEND_OPENGL_VERSION < 2
+   use_vbos_ = use_vbos;
+   style_->setUseVbos (use_vbos_);
++#else
++  PCL_WARN ("[PCLVisualizer::setUseVbos] Has no effect when OpenGL version is ≥ 2\n");
++#endif
+ }
+ 
+ //////////////////////////////////////////////////////////////////////////////////////////////