Replace deprecated/removed VTK functions

[mvieth]

Fixes #6453

Several VTK functions are marked as deprecated in VTK 9.6.0 and removed in VTK 9.7.0:

• SetCells in line_cells->SetCells (n_corr, line_cells_id); is deprecated/removed. I added a new branch (for VTK >= 9.6.0) that uses the modern approach line_cells->InsertNextCell(line);. I also fixed the computation of n_corr.
• GetData in cell_array->GetData ()->SetNumberOfValues (idx); is deprecated/removed. I moved it into details::fillCell, into the "old" branch where VTK_CELL_ARRAY_V2 is not defined. As far as I see, the new branch in details::fillCell does not need the SetNumberOfValues call because it uses InsertNextCell and InsertCellPoint
• GetData in reinterpret_cast<vtkPolyDataMapper*>(actor->GetMapper ())->GetInput ()->GetVerts ()->GetData (); is deprecated/removed. I replaced it with ExportLegacyFormat, although I am not sure whether it makes sense to keep cloud_actor.cells in the long term (might be worth to discuss again in the future, but not high priority)

[OgreTransporter]

GetData is deprecated and has been removed on VTK 9.7

[mvieth]

Thanks for the comment. This is in the #else branch of #ifdef VTK_CELL_ARRAY_V2, which is only taken if an old VTK version is used: https://gitlab.kitware.com/vtk/vtk/-/blob/master/Common/DataModel/vtkCellArray.h#L164

[Copilot]

Pull request overview

This PR updates PCL’s VTK visualization integration to remain compatible with VTK 9.6+ deprecations and VTK 9.7 removals, primarily by replacing deprecated vtkCellArray APIs and adjusting correspondence rendering logic.

Changes:

• Updated polygon/mesh cell population to avoid deprecated vtkCellArray::GetData() usage in the modern VTK path.
• Updated addCorrespondences() to avoid deprecated vtkCellArray::SetCells() for VTK >= 9.6 and fixed correspondence counting.
• Added a regression test covering PCLVisualizer::addCorrespondences().

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.

File	Description
visualization/src/pcl_visualizer.cpp	Moves legacy SetNumberOfValues handling into details::fillCells() and replaces a deprecated GetData() usage with ExportLegacyFormat() for VTK >= 9.6.
visualization/include/pcl/visualization/impl/pcl_visualizer.hpp	Adds a VTK >= 9.6 branch for correspondence line creation using modern vtkCellArray insertion APIs; adjusts correspondence counting/indexing.
test/visualization/test_visualization.cpp	Adds a test that exercises PCLVisualizer::addCorrespondences() to help catch regressions/VTK API breakages.

Suppressed comments (1)

visualization/include/pcl/visualization/impl/pcl_visualizer.hpp:1340

• In the legacy VTK branch, the loop increments j only for valid correspondences. line_cells_id is then resized to j, but SetCells is still called with n_corr. If any correspondences are skipped, this can make vtkCellArray read more cells than are actually present in line_cells_id.

  line_colors->SetNumberOfTuples (j);
  line_cells_id->SetNumberOfTuples (j);
  line_cells->SetCells (n_corr, line_cells_id);
  line_points->SetNumberOfPoints (j*2);

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