support VTK 6.0.0: cmakelist.txt might need to be refactored

2026-07-31 08:13:04 +04:00 · 2013-09-08 18:55:41 +02:00
parent 26005a19bd
commit 56f9168ac1
8 changed files with 168 additions and 29 deletions
@@ -175,7 +175,11 @@ cv::viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
    polydata->GetPointData()->SetScalars(scalars);

    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
    mapper->SetInput(polydata);
+#else
+    mapper->SetInputData(polydata);
+#endif

    Vec3d minmax(scalars->GetRange());
    mapper->SetScalarRange(minmax.val);
@@ -206,7 +210,11 @@ cv::viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
    vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);

    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
    mapper->SetInput(polydata);
+#else
+    mapper->SetInputData(polydata);
+#endif

    bool interpolation = (polydata && polydata->GetNumberOfCells() != polydata->GetNumberOfVerts());

@@ -327,7 +335,11 @@ struct cv::viz::CloudCollectionWidget::CreateCloudWidget
        {
            // This is the first cloud
            vtkSmartPointer<vtkDataSetMapper> mapper_new = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
            mapper_new->SetInputConnection(poly_data->GetProducerPort());
+#else
+            mapper_new->SetInputData(poly_data);
+#endif

            mapper_new->SetScalarRange(minmax.val);
            mapper_new->SetScalarModeToUsePointData();
@@ -349,8 +361,13 @@ struct cv::viz::CloudCollectionWidget::CreateCloudWidget
        CV_Assert("Cloud Widget without data" && data);
        
        vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
+#if VTK_MAJOR_VERSION <= 5
        appendFilter->AddInputConnection(mapper->GetInput()->GetProducerPort());
        appendFilter->AddInputConnection(poly_data->GetProducerPort());
+#else
+        appendFilter->AddInputData(data);
+        appendFilter->AddInputData(poly_data);
+#endif
        mapper->SetInputConnection(appendFilter->GetOutputPort());
        
        // Update the number of cloud points
@@ -401,7 +418,11 @@ void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, InputArray _col
    
    vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
    transform_filter->SetTransform(transform);
+#if VTK_MAJOR_VERSION <= 5
    transform_filter->SetInputConnection(polydata->GetProducerPort());
+#else
+    transform_filter->SetInputData(polydata);
+#endif
    transform_filter->Update();
    
    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
@@ -436,7 +457,11 @@ void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, const Color &co
    
    vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
    transform_filter->SetTransform(transform);
+#if VTK_MAJOR_VERSION <= 5
    transform_filter->SetInputConnection(polydata->GetProducerPort());
+#else
+    transform_filter->SetInputData(polydata);
+#endif
    transform_filter->Update();
    
    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
@@ -571,7 +596,11 @@ cv::viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _n
    polyData->SetLines(lines);

    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
    mapper->SetInput(polyData);
+#else
+    mapper->SetInputData(polyData);
+#endif
    mapper->SetColorModeToMapScalars();
    mapper->SetScalarModeToUsePointData();

@@ -707,7 +736,6 @@ cv::viz::MeshWidget::MeshWidget(const Mesh3d &mesh)
        poly_grid->Allocate(1, 1);
        poly_grid->InsertNextCell(polygon->GetCellType(), polygon->GetPointIds());
        poly_grid->SetPoints(points);
-        poly_grid->Update();
        
        if (scalars)
            poly_grid->GetPointData()->SetScalars(scalars);
@@ -724,7 +752,11 @@ cv::viz::MeshWidget::MeshWidget(const Mesh3d &mesh)
    actor->GetProperty()->ShadingOff();
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
    mapper->SetInput(data);
+#else
+    mapper->SetInputData(data);
+#endif
    mapper->ImmediateModeRenderingOff();
    
    vtkIdType numberOfCloudPoints = nr_points * 0.1;
@@ -66,7 +66,7 @@ cv::viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Co
    line->Update();

    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
-    mapper->SetInput(line->GetOutput());
+    mapper->SetInputConnection(line->GetOutputPort());

    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
    actor->SetMapper(mapper);
@@ -87,7 +87,7 @@ template<> cv::viz::LineWidget cv::viz::Widget::cast<cv::viz::LineWidget>()
 struct cv::viz::PlaneWidget::SetSizeImpl
 {
    template<typename _Tp>
-    static vtkSmartPointer<vtkPolyData> setSize(const Vec<_Tp, 3> &center, vtkSmartPointer<vtkPolyData> poly_data, double size)
+    static vtkSmartPointer<vtkTransformPolyDataFilter> setSize(const Vec<_Tp, 3> &center, vtkSmartPointer<vtkAlgorithmOutput> poly_data_port, double size)
    {
        vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
        transform->PreMultiply();
@@ -96,11 +96,11 @@ struct cv::viz::PlaneWidget::SetSizeImpl
        transform->Translate(-center[0], -center[1], -center[2]);
        
        vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
-        transform_filter->SetInput(poly_data);
+        transform_filter->SetInputConnection(poly_data_port);
        transform_filter->SetTransform(transform);
        transform_filter->Update();
        
-        return transform_filter->GetOutput();
+        return transform_filter;
    }
 };

@@ -115,7 +115,7 @@ cv::viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color &
    plane->GetOrigin(p_center.val);
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
-    mapper->SetInput(SetSizeImpl::setSize(p_center, plane->GetOutput(), size));
+    mapper->SetInputConnection(SetSizeImpl::setSize(p_center, plane->GetOutputPort(), size)->GetOutputPort());
    
    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
    actor->SetMapper(mapper);
@@ -136,7 +136,7 @@ cv::viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double
    plane->SetCenter(p_center[0], p_center[1], p_center[2]);
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
-    mapper->SetInput(SetSizeImpl::setSize(p_center, plane->GetOutput(), size));
+    mapper->SetInputConnection(SetSizeImpl::setSize(p_center, plane->GetOutputPort(), size)->GetOutputPort());

    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
    actor->SetMapper(mapper);
@@ -165,7 +165,7 @@ cv::viz::SphereWidget::SphereWidget(const Point3f &center, float radius, int sph
    sphere->Update();
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
-    mapper->SetInput(sphere->GetOutput());
+    mapper->SetInputConnection(sphere->GetOutputPort());

    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
    actor->SetMapper(mapper);
@@ -238,7 +238,7 @@ cv::viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, double
    transformPD->SetInputConnection(arrowSource->GetOutputPort());
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
-    mapper->SetInput(transformPD->GetOutput());
+    mapper->SetInputConnection(transformPD->GetOutputPort());

    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
    actor->SetMapper(mapper);
@@ -274,7 +274,7 @@ cv::viz::CircleWidget::CircleWidget(const Point3f& pt, double radius, double thi
    tf->SetInputConnection(disk->GetOutputPort());
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
-    mapper->SetInput(tf->GetOutput());
+    mapper->SetInputConnection(tf->GetOutputPort());

    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
    actor->SetMapper(mapper);
@@ -305,7 +305,7 @@ cv::viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3f
    tuber->SetNumberOfSides(numsides);
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
-    mapper->SetInput(tuber->GetOutput());
+    mapper->SetInputConnection(tuber->GetOutputPort());

    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
    actor->SetMapper(mapper);
@@ -330,13 +330,13 @@ cv::viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bo
    {
        vtkSmartPointer<vtkOutlineSource> cube = vtkSmartPointer<vtkOutlineSource>::New();
        cube->SetBounds(pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z);
-        mapper->SetInput(cube->GetOutput());
+        mapper->SetInputConnection(cube->GetOutputPort());
    }
    else
    {
        vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New();
        cube->SetBounds(pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z);
-        mapper->SetInput(cube->GetOutput());
+        mapper->SetInputConnection(cube->GetOutputPort());
    }
    
    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
@@ -371,17 +371,25 @@ cv::viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale)
    axes_colors->InsertNextValue(1.0);

    vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput();
+#if VTK_MAJOR_VERSION <= 5
    axes_data->Update();
+#else
+    axes->Update();
+#endif
    axes_data->GetPointData()->SetScalars(axes_colors);

    vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New();
+#if VTK_MAJOR_VERSION <= 5
    axes_tubes->SetInput(axes_data);
+#else
+    axes_tubes->SetInputData(axes_data);
+#endif
    axes_tubes->SetRadius(axes->GetScaleFactor() / 50.0);
    axes_tubes->SetNumberOfSides(6);
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
    mapper->SetScalarModeToUsePointData();
-    mapper->SetInput(axes_tubes->GetOutput());
+    mapper->SetInputConnection(axes_tubes->GetOutputPort());

    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
    actor->SetMapper(mapper);
@@ -456,7 +464,11 @@ cv::viz::PolyLineWidget::PolyLineWidget(InputArray _pointData, const Color &colo
    polyData->SetLines(cells);
    
    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
    mapper->SetInput(polyData);
+#else
+    mapper->SetInputData(polyData);
+#endif
    
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);
@@ -491,7 +503,11 @@ struct cv::viz::GridWidget::GridImpl
        
        // Extract the edges so we have the grid
        vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
+#if VTK_MAJOR_VERSION <= 5
        filter->SetInputConnection(grid->GetProducerPort());
+#else
+        filter->SetInputData(grid);
+#endif
        filter->Update();
        return filter->GetOutput();
    }
@@ -502,7 +518,11 @@ cv::viz::GridWidget::GridWidget(const Vec2i &dimensions, const Vec2d &spacing, c
    vtkSmartPointer<vtkPolyData> grid = GridImpl::createGrid(dimensions, spacing);
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
    mapper->SetInputConnection(grid->GetProducerPort());
+#else
+    mapper->SetInputData(grid);
+#endif
    
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);
@@ -547,7 +567,11 @@ cv::viz::GridWidget::GridWidget(const Vec4f &coefs, const Vec2i &dimensions, con
    
    vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
    transform_filter->SetTransform(transform);
+#if VTK_MAJOR_VERSION <= 5
    transform_filter->SetInputConnection(grid->GetProducerPort());
+#else
+    transform_filter->SetInputData(grid);
+#endif
    transform_filter->Update();
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
@@ -685,7 +709,11 @@ cv::viz::ImageOverlayWidget::ImageOverlayWidget(const Mat &image, const Rect &re
    // Need to flip the image as the coordinates are different in OpenCV and VTK
    vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
    flipFilter->SetFilteredAxis(1); // Vertical flip
+#if VTK_MAJOR_VERSION <= 5
    flipFilter->SetInputConnection(vtk_image->GetProducerPort());
+#else
+    flipFilter->SetInputData(vtk_image);
+#endif
    flipFilter->Update();
    
    // Scale the image based on the Rect
@@ -728,7 +756,11 @@ void cv::viz::ImageOverlayWidget::setImage(const Mat &image)
    // Need to flip the image as the coordinates are different in OpenCV and VTK
    vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
    flipFilter->SetFilteredAxis(1); // Vertical flip
+#if VTK_MAJOR_VERSION <= 5
    flipFilter->SetInputConnection(vtk_image->GetProducerPort());
+#else
+    flipFilter->SetInputData(vtk_image);
+#endif
    flipFilter->Update();
    
    mapper->SetInputConnection(flipFilter->GetOutputPort());
@@ -754,7 +786,11 @@ cv::viz::Image3DWidget::Image3DWidget(const Mat &image, const Size &size)
    // Need to flip the image as the coordinates are different in OpenCV and VTK
    vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
    flipFilter->SetFilteredAxis(1); // Vertical flip
+#if VTK_MAJOR_VERSION <= 5
    flipFilter->SetInputConnection(vtk_image->GetProducerPort());
+#else
+    flipFilter->SetInputData(vtk_image);
+#endif
    flipFilter->Update();
    
    Vec3d plane_center(size.width * 0.5, size.height * 0.5, 0.0);
@@ -802,7 +838,11 @@ cv::viz::Image3DWidget::Image3DWidget(const Vec3f &position, const Vec3f &normal
    // Need to flip the image as the coordinates are different in OpenCV and VTK
    vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
    flipFilter->SetFilteredAxis(1); // Vertical flip
+#if VTK_MAJOR_VERSION <= 5
    flipFilter->SetInputConnection(vtk_image->GetProducerPort());
+#else
+    flipFilter->SetInputData(vtk_image);
+#endif
    flipFilter->Update();
    
    vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
@@ -875,7 +915,11 @@ void cv::viz::Image3DWidget::setImage(const Mat &image)
    // Need to flip the image as the coordinates are different in OpenCV and VTK
    vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
    flipFilter->SetFilteredAxis(1); // Vertical flip
+#if VTK_MAJOR_VERSION <= 5
    flipFilter->SetInputConnection(vtk_image->GetProducerPort());
+#else
+    flipFilter->SetInputData(vtk_image);
+#endif
    flipFilter->Update();
    
    // Apply the texture
@@ -915,7 +959,11 @@ struct cv::viz::CameraPositionWidget::ProjectImage
        // Need to flip the image as the coordinates are different in OpenCV and VTK
        vtkSmartPointer<vtkImageFlip> flipFilter = vtkSmartPointer<vtkImageFlip>::New();
        flipFilter->SetFilteredAxis(1); // Vertical flip
+#if VTK_MAJOR_VERSION <= 5
        flipFilter->SetInputConnection(vtk_image->GetProducerPort());
+#else
+        flipFilter->SetInputData(vtk_image);
+#endif
        flipFilter->Update();
        
        Vec3d plane_center(0.0, 0.0, scale);
@@ -962,7 +1010,7 @@ struct cv::viz::CameraPositionWidget::ProjectImage
        frustumSource->Update();
            
        vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
-        filter->SetInput(frustumSource->GetOutput());
+        filter->SetInputConnection(frustumSource->GetOutputPort());
        filter->Update();
        
        // Frustum needs to be textured or else it can't be combined with image
@@ -1000,17 +1048,25 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(double scale)
    axes_colors->InsertNextValue(1.0);

    vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput();
+#if VTK_MAJOR_VERSION <= 5
    axes_data->Update();
+#else
+    axes->Update();
+#endif
    axes_data->GetPointData()->SetScalars(axes_colors);
    
    vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New();
+#if VTK_MAJOR_VERSION <= 5
    axes_tubes->SetInput(axes_data);
+#else
+    axes_tubes->SetInputData(axes_data);
+#endif
    axes_tubes->SetRadius(axes->GetScaleFactor() / 50.0);
    axes_tubes->SetNumberOfSides(6);
    
    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
    mapper->SetScalarModeToUsePointData();
-    mapper->SetInput(axes_tubes->GetOutput());
+    mapper->SetInputConnection(axes_tubes->GetOutputPort());

    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
    actor->SetMapper(mapper);
@@ -1046,11 +1102,11 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, double sca
    frustumSource->Update();

    vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
-    filter->SetInput(frustumSource->GetOutput());
+    filter->SetInputConnection(frustumSource->GetOutputPort());
    filter->Update();
    
    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
-    mapper->SetInput(filter->GetOutput());
+    mapper->SetInputConnection(filter->GetOutputPort());
    
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);
@@ -1085,11 +1141,11 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec2f &fov, double sca

    // Extract the edges so we have the grid
    vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
-    filter->SetInput(frustumSource->GetOutput());
+    filter->SetInputConnection(frustumSource->GetOutputPort());
    filter->Update();    
    
    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
-    mapper->SetInput(filter->GetOutput());
+    mapper->SetInputConnection(filter->GetOutputPort());
    
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);
@@ -1151,7 +1207,11 @@ struct cv::viz::TrajectoryWidget::ApplyPath
            transform->SetMatrix(mat_trans);
            
            vtkSmartPointer<vtkTransformPolyDataFilter> filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
+#if VTK_MAJOR_VERSION <= 5
            filter->SetInput(new_data);
+#else
+            filter->SetInputData(new_data);
+#endif
            filter->SetTransform(transform);
            filter->Update();
            
@@ -1202,7 +1262,11 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, i
        colors->FillComponent(2, color[0]);
        
        polyData->GetPointData()->SetScalars(colors);
+#if VTK_MAJOR_VERSION <= 5
        appendFilter->AddInputConnection(polyData->GetProducerPort());
+#else
+        appendFilter->AddInputData(polyData);
+#endif
    }
    
    if ((~display_mode & 3) ^ TrajectoryWidget::DISPLAY_FRAMES)
@@ -1222,11 +1286,19 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, i
        axes_colors->InsertNextTuple3(0,0,255);
        
        vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput();
+#if VTK_MAJOR_VERSION <= 5
        axes_data->Update();
+#else
+        axes->Update();
+#endif
        axes_data->GetPointData()->SetScalars(axes_colors);
        
        vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New();
+#if VTK_MAJOR_VERSION <= 5
        axes_tubes->SetInput(axes_data);
+#else
+        axes_tubes->SetInputData(axes_data);
+#endif
        axes_tubes->SetRadius(axes->GetScaleFactor() / 50.0);
        axes_tubes->SetNumberOfSides(6);
        axes_tubes->Update();
@@ -1236,7 +1308,7 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, i
    
    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    mapper->SetScalarModeToUsePointData();
-    mapper->SetInput(appendFilter->GetOutput());
+    mapper->SetInputConnection(appendFilter->GetOutputPort());
    
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);
@@ -1272,14 +1344,14 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, c

    // Extract the edges
    vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
-    filter->SetInput(frustumSource->GetOutput());
+    filter->SetInputConnection(frustumSource->GetOutputPort());
    filter->Update();
    
    vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
    ApplyPath::applyPath(filter->GetOutput(), appendFilter, path);
    
    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
-    mapper->SetInput(appendFilter->GetOutput());
+    mapper->SetInputConnection(appendFilter->GetOutputPort());
    
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);
@@ -1312,14 +1384,14 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, c

    // Extract the edges
    vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
-    filter->SetInput(frustumSource->GetOutput());
+    filter->SetInputConnection(frustumSource->GetOutputPort());
    filter->Update();
    
    vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
    ApplyPath::applyPath(filter->GetOutput(), appendFilter, path);
    
    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
-    mapper->SetInput(appendFilter->GetOutput());
+    mapper->SetInputConnection(appendFilter->GetOutputPort());
    
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);
@@ -1410,7 +1482,7 @@ cv::viz::SpheresTrajectoryWidget::SpheresTrajectoryWidget(const std::vector<Affi
    
    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    mapper->SetScalarModeToUseCellData();
-    mapper->SetInput(appendFilter->GetOutput());
+    mapper->SetInputConnection(appendFilter->GetOutputPort());
    
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);
@@ -325,7 +325,11 @@ void cv::viz::Viz3d::VizImpl::createActorFromVTKDataSet(const vtkSmartPointer<vt
        actor = vtkSmartPointer<vtkLODActor>::New();

    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
    mapper->SetInput(data);
+#else
+    mapper->SetInputData(data);
+#endif

    if (use_scalars)
    {
@@ -369,9 +369,13 @@ namespace cv
            {
                // Create the vtk image
                output->SetDimensions(image.cols, image.rows, 1);
+#if VTK_MAJOR_VERSION <= 5
                output->SetNumberOfScalarComponents(image.channels());
                output->SetScalarTypeToUnsignedChar();
                output->AllocateScalars();
+#else
+                output->AllocateScalars(VTK_UNSIGNED_CHAR, image.channels());
+#endif
                
                int i_chs = image.channels();
                if (i_chs > 1)
@@ -93,7 +93,11 @@ cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();

    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
    mapper->SetInput(data);
+#else
+    mapper->SetInputData(data);
+#endif

    vtkSmartPointer<vtkDataArray> scalars = data->GetPointData()->GetScalars();
    if (scalars)
@@ -183,9 +187,13 @@ void cv::viz::Widget::setRenderingProperty(int property, double value)
                    if (!actor->GetMapper()->GetInput()->GetPointData()->GetNormals())
                    {
                        vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New();
+#if VTK_MAJOR_VERSION <= 5
                        normals->SetInput(actor->GetMapper()->GetInput());
+#else
+                        normals->SetInputData(actor->GetMapper()->GetInput());
+#endif
                        normals->Update();
-                        vtkDataSetMapper::SafeDownCast(actor->GetMapper())->SetInput(normals->GetOutput());
+                        vtkDataSetMapper::SafeDownCast(actor->GetMapper())->SetInputConnection(normals->GetOutputPort());
                    }
                    actor->GetProperty()->SetInterpolationToGouraud();
                    break;
@@ -195,9 +203,13 @@ void cv::viz::Widget::setRenderingProperty(int property, double value)
                    if (!actor->GetMapper()->GetInput()->GetPointData()->GetNormals())
                    {
                        vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New();
+#if VTK_MAJOR_VERSION <= 5
                        normals->SetInput(actor->GetMapper()->GetInput());
+#else
+                        normals->SetInputData(actor->GetMapper()->GetInput());
+#endif
                        normals->Update();
-                        vtkDataSetMapper::SafeDownCast(actor->GetMapper())->SetInput(normals->GetOutput());
+                        vtkDataSetMapper::SafeDownCast(actor->GetMapper())->SetInputConnection(normals->GetOutputPort());
                    }
                    actor->GetProperty()->SetInterpolationToPhong();
                    break;