Update to 1.8.0rc2

3 files changed, 10 insertions, 392 deletions

diff --git a/.SRCINFO b/.SRCINFO
index 8b946eddf637..767f34862cf4 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,8 +1,8 @@
 # Generated by mksrcinfo v8
-# Tue Feb 23 15:06:56 UTC 2016
+# Sat Mar 12 13:34:01 UTC 2016
 pkgbase = pcl
 	pkgdesc = A comprehensive open source library for n-D Point Clouds and 3D geometry processing
-	pkgver = 1.8.0rc1
+	pkgver = 1.8.0rc2
 	pkgrel = 1
 	url = http://www.pointclouds.org
 	arch = x86_64
@@ -23,11 +23,9 @@ pkgbase = pcl
 	depends = libxt
 	optdepends = cuda
 	optdepends = openni2
-	optdepends = python-sphinx
-	source = https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0rc1.tar.gz
-	source = vtk7.patch
-	sha256sums = 18ff4519026a7885d2fd0ee1d06939a7755e83e082840e4929fb2883948e5142
-	sha256sums = eaf5f90ded00d47ae8fbb34c3cc8878e694f44b684038a9c593c432035a0b2c1
+	optdepends = python2-sphinx
+	source = pcl-1.8.0rc2.tar.gz::https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0rc2.tar.gz
+	sha256sums = d5d5e32c73d89b18bc305b4e1a2499638a63da14f26b89f003c84c433132ab42
 
 pkgname = pcl
 
diff --git a/PKGBUILD b/PKGBUILD
index 7dba66a57962..0813d6a980e6 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -6,7 +6,7 @@
 # Contributor: lubosz
 
 pkgname=pcl
-pkgver=1.8.0rc1
+pkgver=1.8.0rc2
 pkgrel=1
 pkgdesc="A comprehensive open source library for n-D Point Clouds and 3D geometry processing"
 arch=('x86_64' 'i686')
@@ -15,11 +15,9 @@ license=('BSD')
 depends=('boost' 'eigen' 'flann' 'vtk' 'qhull' 'qt5-base' 'glu' 'qt5-webkit'
   'openmpi' 'python2' 'libxt')
 makedepends=('cmake' 'gl2ps')
-optdepends=('cuda' 'openni2' 'python-sphinx')
-source=("https://github.com/PointCloudLibrary/pcl/archive/pcl-${pkgver}.tar.gz"
-        "vtk7.patch")
-sha256sums=('18ff4519026a7885d2fd0ee1d06939a7755e83e082840e4929fb2883948e5142'
-            'eaf5f90ded00d47ae8fbb34c3cc8878e694f44b684038a9c593c432035a0b2c1')
+optdepends=('cuda' 'openni2' 'python2-sphinx')
+source=("pcl-${pkgver}.tar.gz"::"https://github.com/PointCloudLibrary/pcl/archive/pcl-${pkgver}.tar.gz")
+sha256sums=('d5d5e32c73d89b18bc305b4e1a2499638a63da14f26b89f003c84c433132ab42')
 
 prepare() {
   cd "${srcdir}/pcl-pcl-${pkgver}"
@@ -32,31 +30,13 @@ prepare() {
   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 -p1 < ../vtk7.patch
-
   # [[ -d build ]] && rm -r build
   mkdir -p build && cd build
 
-  # -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
+    -DCUDA_HOST_COMPILER=/usr/bin/gcc
 }
 
 build() {
diff --git a/vtk7.patch b/vtk7.patch
deleted file mode 100644
index 2193b5661907..000000000000
--- a/vtk7.patch
+++ /dev/null
@@ -1,360 +0,0 @@
-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
- }
- 
- //////////////////////////////////////////////////////////////////////////////////////////////