cmake: added VTK_GLOBAL_WARNING_DISPLAY option (default off) for VTK>=9 (https://github.com/introlab/rtabmap_ros/issues/1111)

CMakeLists.txt

@@ -294,14 +294,20 @@ SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF FALSE)
 IF(WITH_QT)
     FIND_PACKAGE(VTK)
     IF(NOT VTK_FOUND)
-        MESSAGE(FATAL_ERROR "VTK is required when using Qt. Set -DWITH_QT=OFF if you don't want gui tools.")
+      MESSAGE(FATAL_ERROR "VTK is required when using Qt. Set -DWITH_QT=OFF if you don't want gui tools.")
     ENDIF(NOT VTK_FOUND)
 
     # If Qt is here, the GUI will be built
     IF(NOT(${VTK_MAJOR_VERSION} LESS 9))
-	  IF(NOT VTK_QT_VERSION)
-	    MESSAGE(FATAL_ERROR "WITH_QT option is ON, but VTK ${VTK_MAJOR_VERSION} has not been built with Qt support, disabling Qt.")
-	  ENDIF()
+      IF(NOT VTK_QT_VERSION)
+        MESSAGE(FATAL_ERROR "WITH_QT option is ON, but VTK ${VTK_MAJOR_VERSION} has not been built with Qt support, disabling Qt.")
+      ENDIF()
+
+      option(VTK_GLOBAL_WARNING_DISPLAY  "Show VTK warning display on runtime" OFF)
+      IF(NOT VTK_GLOBAL_WARNING_DISPLAY)
+        ADD_DEFINITIONS(-DVTK_GLOBAL_WARNING_DISPLAY_OFF)
+      ENDIF()
+
       MESSAGE(STATUS "VTK>=9 detected, will use VTK_QT_VERSION=${VTK_QT_VERSION} for Qt version.")
       IF(${VTK_QT_VERSION} EQUAL 6)
         FIND_PACKAGE(Qt6 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)

app/src/main.cpp

@@ -55,9 +55,6 @@ int main(int argc, char* argv[])
 	CoInitialize(nullptr);
 #endif
 
-#if VTK_MAJOR_VERSION >= 8 && defined(BUILD_AS_BUNDLE)
-	vtkObject::GlobalWarningDisplayOff();
-#endif
 #if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
     // needed to ensure appropriate OpenGL context is created for VTK rendering.
     QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());

guilib/src/CloudViewer.cpp

@@ -204,6 +204,10 @@ CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
 	}
 	_visualizer->getRenderWindow()->SetNumberOfLayers(4);
 
+#ifdef VTK_GLOBAL_WARNING_DISPLAY_OFF
+	_visualizer->getRenderWindow()->GlobalWarningDisplayOff();
+#endif
+
 #if VTK_MAJOR_VERSION > 8
 	this->setRenderWindow(_visualizer->getRenderWindow());
 #else