Make apps Qt6 compatible

Author: mvieth

apps/cloud_composer/src/cloud_composer.cpp

@@ -10,6 +10,7 @@
 #include <pcl/apps/cloud_composer/signal_multiplexer.h>
 #include <pcl/apps/cloud_composer/point_selectors/interactor_style_switch.h>
 
+#include <QActionGroup>
 #include <QMessageBox>
 #include <QPluginLoader>
 #include <QUndoGroup>

apps/in_hand_scanner/CMakeLists.txt

@@ -91,7 +91,11 @@ PCL_ADD_EXECUTABLE(
     ${IMPL_INCS}
     ${UI}
   BUNDLE)
+
 target_link_libraries("${EXE_NAME}" ${SUBSUBSYS_LIBS} ${OPENGL_LIBRARIES} ${QTX}::Concurrent ${QTX}::Widgets ${QTX}::OpenGL)
+if (${QTX} MATCHES "Qt6")
+  target_link_libraries("${EXE_NAME}" ${QTX}::OpenGLWidgets)
+endif()
 
 pcl_add_includes("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}" ${INCS})
 pcl_add_includes("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}/impl" ${IMPL_INCS})
@@ -108,6 +112,9 @@ PCL_ADD_EXECUTABLE(
   BUNDLE)
 
 target_link_libraries(pcl_offline_integration ${SUBSUBSYS_LIBS} ${OPENGL_LIBRARIES} ${QTX}::Concurrent ${QTX}::Widgets ${QTX}::OpenGL)
+if (${QTX} MATCHES "Qt6")
+  target_link_libraries(pcl_offline_integration ${QTX}::OpenGLWidgets)
+endif()
 
 # Add to the compound apps target
 list(APPEND PCL_APPS_ALL_TARGETS ${PCL_IN_HAND_SCANNER_ALL_TARGETS})

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h

@@ -46,7 +46,7 @@
 #include <pcl/pcl_exports.h>
 #include <pcl/pcl_macros.h>
 
-#include <QGLWidget>
+#include <QOpenGLWidget>
 
 #include <iomanip>
 #include <mutex>
@@ -102,7 +102,7 @@ class FaceVertexMesh {
  * \note Currently you have to derive from this class to use it. Implement the
  * paintEvent: Call the paint event of this class and declare a QPainter.
  */
-class PCL_EXPORTS OpenGLViewer : public QGLWidget {
+class PCL_EXPORTS OpenGLViewer : public QOpenGLWidget {
   Q_OBJECT
 
 public:

apps/in_hand_scanner/src/offline_integration.cpp

@@ -50,6 +50,7 @@
 #include <QApplication>
 #include <QFileDialog>
 #include <QKeyEvent>
+#include <QPainter>
 #include <QtConcurrent>
 #include <QtCore>
 

apps/in_hand_scanner/src/opengl_viewer.cpp

@@ -56,6 +56,7 @@
 #include <pcl/common/centroid.h>
 #include <pcl/common/impl/centroid.hpp> // TODO: PointIHS is not registered
 
+#include <QApplication>
 #include <QtOpenGL>
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -101,7 +102,7 @@ pcl::ihs::detail::FaceVertexMesh::FaceVertexMesh(const Mesh& mesh,
 ////////////////////////////////////////////////////////////////////////////////
 
 pcl::ihs::OpenGLViewer::OpenGLViewer(QWidget* parent)
-: QGLWidget(parent)
+: QOpenGLWidget(parent)
 , timer_vis_(new QTimer(this))
 , colormap_(Colormap::Constant(255))
 , vis_conf_norm_(1)
@@ -1195,8 +1196,8 @@ pcl::ihs::OpenGLViewer::wheelEvent(QWheelEvent* event)
         std::max((cam_pivot_ - R_cam_ * o - t_cam_).norm(), .1 / scaling_factor_) / d;
 
     // http://doc.qt.digia.com/qt/qwheelevent.html#delta
-    t_cam_ +=
-        scale * Eigen::Vector3d(R_cam_ * (ez * static_cast<double>(event->delta())));
+    t_cam_ += scale * Eigen::Vector3d(
+                          R_cam_ * (ez * static_cast<double>(event->angleDelta().y())));
   }
 }
 

apps/modeler/src/main_window.cpp

@@ -282,7 +282,7 @@ pcl::modeler::MainWindow::updateRecentActions(
   }
 
   recent_items.removeDuplicates();
-  int recent_number = std::min(int(MAX_RECENT_NUMBER), recent_items.size());
+  int recent_number = std::min<int>(int(MAX_RECENT_NUMBER), recent_items.size());
   for (int i = 0; i < recent_number; ++i) {
     QString text = tr("%1 %2").arg(i + 1).arg(recent_items[i]);
     recent_actions[i]->setText(text);

apps/point_cloud_editor/CMakeLists.txt

@@ -87,6 +87,9 @@ PCL_ADD_EXECUTABLE(
     ${INCS})
 
 target_link_libraries("${EXE_NAME}" ${QTX}::Widgets ${QTX}::OpenGL ${OPENGL_LIBRARIES} ${BOOST_LIBRARIES} pcl_common pcl_io pcl_filters)
+if (${QTX} MATCHES "Qt6")
+  target_link_libraries("${EXE_NAME}" ${QTX}::OpenGLWidgets)
+endif()
 
 PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}" ${INCS})
 PCL_MAKE_PKGCONFIG(${EXE_NAME} COMPONENT ${SUBSUBSYS_NAME} DESC ${SUBSUBSYS_DESC})

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/cloudEditorWidget.h

@@ -49,15 +49,15 @@
 
 #include <pcl/memory.h>  // for pcl::shared_ptr
 
-#include <QGLWidget>
+#include <QOpenGLWidget>
 
 #include <functional>
 
 class Selection;
 
 /// @brief class declaration for the widget for editing and viewing
 /// point clouds.
-class CloudEditorWidget : public QGLWidget
+class CloudEditorWidget : public QOpenGLWidget
 {
   Q_OBJECT
   public:

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/select2DTool.h

@@ -40,7 +40,7 @@
 
 #pragma once
 
-#include <qgl.h>
+#include <qopengl.h>
 #include <pcl/apps/point_cloud_editor/toolInterface.h>
 #include <pcl/apps/point_cloud_editor/localTypes.h>
 

apps/point_cloud_editor/src/cloud.cpp

@@ -38,7 +38,6 @@
 /// @author  Yue Li and Matthew Hielsberg
 
 #include <algorithm>
-#include <qgl.h>
 #include <pcl/apps/point_cloud_editor/cloud.h>
 #include <pcl/apps/point_cloud_editor/selection.h>
 #include <pcl/apps/point_cloud_editor/localTypes.h>