[geometry] Move RenderEngineVtk into its own directory (RobotLocomoti…

…on#17169) Deprecate the older paths, and non-factory access to VtkRenderEngine.
LwinMoeAung · May 12, 2022 · a0d605d · a0d605d
1 parent 8adb6da
commit a0d605d
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Showing 31 changed files with 342 additions and 156 deletions.
diff --git a/bindings/pydrake/geometry_py_render.cc b/bindings/pydrake/geometry_py_render.cc
@@ -9,8 +9,8 @@
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/geometry/render/gl_renderer/render_engine_gl_factory.h"
 #include "drake/geometry/render/render_engine.h"
-#include "drake/geometry/render/render_engine_vtk_factory.h"
 #include "drake/geometry/render/render_label.h"
+#include "drake/geometry/render_vtk/factory.h"
 
 namespace drake {
 namespace pydrake {
@@ -108,7 +108,8 @@ void DoScalarIndependentDefinitions(py::module m) {
   using namespace drake::geometry;
   // NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
   using namespace drake::geometry::render;
-  constexpr auto& doc = pydrake_doc.drake.geometry.render;
+  constexpr auto& doc_geometry = pydrake_doc.drake.geometry;
+  constexpr auto& doc = doc_geometry.render;
 
   {
     using Class = ClippingRange;
@@ -292,16 +293,19 @@ void DoScalarIndependentDefinitions(py::module m) {
             cls_doc.ThrowIfInvalid.doc);
   }
 
-  py::class_<RenderEngineVtkParams>(
-      m, "RenderEngineVtkParams", doc.RenderEngineVtkParams.doc)
-      .def(ParamInit<RenderEngineVtkParams>())
-      .def_readwrite("default_label", &RenderEngineVtkParams::default_label,
-          doc.RenderEngineVtkParams.default_label.doc)
-      .def_readwrite("default_diffuse", &RenderEngineVtkParams::default_diffuse,
-          doc.RenderEngineVtkParams.default_diffuse.doc);
+  {
+    using Class = geometry::RenderEngineVtkParams;
+    constexpr auto& cls_doc = doc_geometry.RenderEngineVtkParams;
+    py::class_<Class>(m, "RenderEngineVtkParams", cls_doc.doc)
+        .def(ParamInit<Class>())
+        .def_readwrite(
+            "default_label", &Class::default_label, cls_doc.default_label.doc)
+        .def_readwrite("default_diffuse", &Class::default_diffuse,
+            cls_doc.default_diffuse.doc);
+  }
 
-  m.def("MakeRenderEngineVtk", &MakeRenderEngineVtk, py::arg("params"),
-      doc.MakeRenderEngineVtk.doc);
+  m.def("MakeRenderEngineVtk", &geometry::MakeRenderEngineVtk,
+      py::arg("params"), doc_geometry.MakeRenderEngineVtk.doc);
 
   {
     using Class = RenderEngineGlParams;

diff --git a/examples/manipulation_station/BUILD.bazel b/examples/manipulation_station/BUILD.bazel
@@ -37,7 +37,7 @@ drake_cc_library(
     deps = [
         "//common:find_resource",
         "//geometry:scene_graph",
-        "//geometry/render:render_engine_vtk",
+        "//geometry/render_vtk",
         "//manipulation/schunk_wsg:schunk_wsg_constants",
         "//manipulation/schunk_wsg:schunk_wsg_position_controller",
         "//math:geometric_transform",

diff --git a/examples/manipulation_station/manipulation_station.cc b/examples/manipulation_station/manipulation_station.cc
@@ -6,7 +6,7 @@
 #include <utility>
 
 #include "drake/common/find_resource.h"
-#include "drake/geometry/render/render_engine_vtk_factory.h"
+#include "drake/geometry/render_vtk/factory.h"
 #include "drake/manipulation/schunk_wsg/schunk_wsg_constants.h"
 #include "drake/manipulation/schunk_wsg/schunk_wsg_position_controller.h"
 #include "drake/math/rigid_transform.h"
@@ -33,9 +33,9 @@ namespace manipulation_station {
 
 using Eigen::Vector3d;
 using Eigen::VectorXd;
+using geometry::MakeRenderEngineVtk;
+using geometry::RenderEngineVtkParams;
 using geometry::SceneGraph;
-using geometry::render::MakeRenderEngineVtk;
-using geometry::render::RenderEngineVtkParams;
 using math::RigidTransform;
 using math::RigidTransformd;
 using math::RollPitchYaw;

diff --git a/examples/scene_graph/BUILD.bazel b/examples/scene_graph/BUILD.bazel
@@ -42,7 +42,7 @@ drake_cc_binary(
         ":bouncing_ball_plant",
         "//geometry:drake_visualizer",
         "//geometry:scene_graph",
-        "//geometry/render:render_engine_vtk",
+        "//geometry/render_vtk",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
         "//systems/lcm:lcm_pubsub_system",

diff --git a/examples/scene_graph/bouncing_ball_run_dynamics.cc b/examples/scene_graph/bouncing_ball_run_dynamics.cc
@@ -6,7 +6,7 @@
 #include "drake/examples/scene_graph/bouncing_ball_plant.h"
 #include "drake/geometry/drake_visualizer.h"
 #include "drake/geometry/geometry_instance.h"
-#include "drake/geometry/render/render_engine_vtk_factory.h"
+#include "drake/geometry/render_vtk/factory.h"
 #include "drake/geometry/scene_graph.h"
 #include "drake/geometry/shape_specification.h"
 #include "drake/lcm/drake_lcm.h"
@@ -46,8 +46,8 @@ using geometry::PerceptionProperties;
 using geometry::ProximityProperties;
 using geometry::render::ColorRenderCamera;
 using geometry::render::DepthRenderCamera;
-using geometry::render::RenderEngineVtkParams;
 using geometry::render::RenderLabel;
+using geometry::RenderEngineVtkParams;
 using geometry::SceneGraph;
 using geometry::SourceId;
 using lcm::DrakeLcm;

diff --git a/geometry/benchmarking/BUILD.bazel b/geometry/benchmarking/BUILD.bazel
@@ -35,6 +35,7 @@ drake_cc_binary(
         "//common:filesystem",
         "//geometry/render",
         "//geometry/render/gl_renderer",
+        "//geometry/render_vtk",
         "//systems/sensors:image_writer",
         "@fmt",
         "@gflags",

diff --git a/geometry/benchmarking/render_benchmark.cc b/geometry/benchmarking/render_benchmark.cc
@@ -6,7 +6,7 @@
 
 #include "drake/common/filesystem.h"
 #include "drake/geometry/render/gl_renderer/render_engine_gl_factory.h"
-#include "drake/geometry/render/render_engine_vtk_factory.h"
+#include "drake/geometry/render_vtk/factory.h"
 #include "drake/systems/sensors/image_writer.h"
 
 namespace drake {
@@ -370,8 +370,8 @@ BENCHMARK_REGISTER_F(RenderBenchmark, Renderer##ImageT) \
 template <>
 std::unique_ptr<RenderEngine> MakeEngine<EngineType::Vtk>(
     const Vector3d& bg_rgb) {
-  RenderEngineVtkParams params{{}, {}, bg_rgb};
-  return MakeRenderEngineVtk(params);
+  geometry::RenderEngineVtkParams params{{}, {}, bg_rgb};
+  return geometry::MakeRenderEngineVtk(params);
 }
 
 MAKE_BENCHMARK(Vtk, Color);

diff --git a/geometry/render/BUILD.bazel b/geometry/render/BUILD.bazel
@@ -18,9 +18,7 @@ drake_cc_package_library(
         ":render_camera",
         ":render_engine",
         ":render_engine_vtk",
-        ":render_engine_vtk_base",
         ":render_label",
-        ":vtk_util",
     ],
 )
 
@@ -56,56 +54,44 @@ drake_cc_library(
     ],
 )
 
-# The VTK-OpenGL-based render engine implementation.
+# TODO(jwnimmer-tri) Remove this along with deprecation on 2022-09-01.
+_STUB_HDRS = [
+    "render_engine_vtk.h",
+    "render_engine_vtk_base.h",
+    "render_engine_vtk_factory.h",
+    "vtk_util.h",
+]
+
+# TODO(jwnimmer-tri) Remove this along with deprecation on 2022-09-01.
+[
+    genrule(
+        name = "_cp_" + hdr,
+        srcs = ["stub/" + hdr],
+        outs = [hdr],
+        cmd = "cp $< $@",
+        tags = ["nolint"],
+        visibility = ["//visibility:private"],
+    )
+    for hdr in _STUB_HDRS
+]
+
+# TODO(jwnimmer-tri) Remove this along with deprecation on 2022-09-01.
 drake_cc_library(
     name = "render_engine_vtk",
-    srcs = [
-        "render_engine_vtk.cc",
-        "render_engine_vtk_factory.cc",
-    ],
-    hdrs = [
-        "render_engine_vtk.h",
-        "render_engine_vtk_factory.h",
-    ],
-    # render_engine_vtk.h directly pulls in VTK headers; leave it out of the
-    # install.
-    install_hdrs_exclude = ["render_engine_vtk.h"],
-    deps = [
-        ":render_engine",
-        ":render_engine_vtk_base",
-        ":vtk_util",
-        "//common",
-        "//geometry/render/shaders:depth_shaders",
-        "//systems/sensors:color_palette",
-        "@eigen",
-        "@vtk//:vtkIOGeometry",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkRenderingCore",
-        "@vtk//:vtkRenderingOpenGL2",
-    ],
-)
-
-# Common functionality for VTK-based render engine implementations.
-drake_cc_library(
-    name = "render_engine_vtk_base",
-    srcs = [
-        "render_engine_vtk_base.cc",
-    ],
-    hdrs = [
-        "render_engine_vtk_base.h",
-    ],
-    # render_engine_vtk_base.h directly pulls in VTK headers; leave it out of
-    # the install.
+    hdrs = _STUB_HDRS,
     install_hdrs_exclude = [
+        # Since these directly use VTK headers, leave them out of the install.
+        "render_engine_vtk.h",
         "render_engine_vtk_base.h",
+        "vtk_util.h",
     ],
-    visibility = ["//visibility:private"],
+    tags = ["nolint"],
     deps = [
-        "//common:scope_exit",
-        "//geometry:geometry_roles",
-        "//geometry:shape_specification",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkFiltersSources",
+        "//geometry/render_vtk:factory",
+        "//geometry/render_vtk:internal_render_engine_vtk",
+        "//geometry/render_vtk:internal_render_engine_vtk_base",
+        "//geometry/render_vtk:internal_vtk_util",
+        "//geometry/render_vtk:render_engine_vtk_params",
     ],
 )
 
@@ -120,24 +106,6 @@ drake_cc_library(
     ],
 )
 
-drake_cc_library(
-    name = "vtk_util",
-    srcs = ["vtk_util.cc"],
-    hdrs = ["vtk_util.h"],
-    # We must not expose `#include <vtk/...>` in any of our installed headers;
-    # vtk_util.h is only included internally within this package.
-    install_hdrs_exclude = ["vtk_util.h"],
-    visibility = ["//visibility:private"],
-    deps = [
-        "//common:essential",
-        "//math:geometric_transform",
-        "@eigen",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonTransforms",
-        "@vtk//:vtkFiltersSources",
-    ],
-)
-
 # === test/ ===
 
 filegroup(
@@ -170,21 +138,6 @@ drake_cc_googletest(
     ],
 )
 
-drake_cc_googletest(
-    name = "render_engine_vtk_test",
-    data = [
-        ":test_models",
-    ],
-    tags = vtk_test_tags(),
-    deps = [
-        ":render_engine_vtk",
-        "//common:find_resource",
-        "//common/test_utilities",
-        "//geometry/test_utilities:dummy_render_engine",
-        "//math:geometric_transform",
-    ],
-)
-
 drake_cc_googletest(
     name = "render_label_test",
     deps = [
@@ -195,8 +148,14 @@ drake_cc_googletest(
 )
 
 drake_cc_googletest(
-    name = "vtk_util_test",
-    deps = [":vtk_util"],
+    name = "deprecation_test",
+    copts = [
+        "-Wno-cpp",
+        "-Wno-deprecated-declarations",
+    ],
+    deps = [
+        ":render",
+    ],
 )
 
 add_lint_tests()
diff --git a/geometry/render/dev/render_gltf_client/BUILD.bazel b/geometry/render/dev/render_gltf_client/BUILD.bazel
@@ -68,7 +68,7 @@ drake_cc_library(
         ":internal_render_client",
         "//common:filesystem",
         "//geometry/render:render_camera",
-        "//geometry/render:render_engine_vtk",
+        "//geometry/render_vtk:internal_render_engine_vtk",
         "//systems/sensors:image",
         "@vtk//:vtkIOExport",
     ],
@@ -171,9 +171,10 @@ drake_cc_binary(
     srcs = ["test/gltf_render_server_backend.cc"],
     deps = [
         "//common:filesystem",
-        "//geometry/render:render_engine_vtk",
         "//geometry/render:render_label",
         "//geometry/render/shaders:depth_shaders",
+        "//geometry/render_vtk:factory",
+        "//geometry/render_vtk:internal_render_engine_vtk",
         "//math:geometric_transform",
         "//systems/sensors:color_palette",
         "//systems/sensors:image",
@@ -209,7 +210,7 @@ drake_cc_binary(
         "//common:filesystem",
         "//geometry:drake_visualizer",
         "//geometry:scene_graph",
-        "//geometry/render:render_engine_vtk",
+        "//geometry/render_vtk",
         "//multibody/parsing",
         "//multibody/plant",
         "//systems/analysis:simulator",

diff --git a/geometry/render/dev/render_gltf_client/internal_render_engine_gltf_client.h b/geometry/render/dev/render_gltf_client/internal_render_engine_gltf_client.h
@@ -5,7 +5,7 @@
 
 #include "drake/geometry/render/dev/render_gltf_client/factory.h"
 #include "drake/geometry/render/dev/render_gltf_client/internal_render_client.h"
-#include "drake/geometry/render/render_engine_vtk.h"
+#include "drake/geometry/render_vtk/internal_render_engine_vtk.h"
 
 namespace drake {
 namespace geometry {

diff --git a/geometry/render/dev/render_gltf_client/test/gltf_render_server_backend.cc b/geometry/render/dev/render_gltf_client/test/gltf_render_server_backend.cc
@@ -22,7 +22,8 @@
 #include "drake/systems/sensors/color_palette.h"
 #include "drake/systems/sensors/image.h"
 // Depth shaders need to use the same callback.
-#include "drake/geometry/render/render_engine_vtk.h"
+#include "drake/geometry/render_vtk/factory.h"
+#include "drake/geometry/render_vtk/internal_render_engine_vtk.h"
 
 VTK_MODULE_INIT(vtkRenderingOpenGL2);
 
@@ -289,7 +290,7 @@ int do_main() {
   if (FLAGS_image_type == "color") {
     renderer->SetUseDepthPeeling(1);
     renderer->UseFXAAOn();
-    // Same default as defined in render_engine_vtk_factory.h.
+    // Same default as defined in render_vtk/factory.h.
     renderer->SetBackground(204.0 / 255.0, 229.0 / 255.0, 255.0 / 255.0);
     renderer->SetBackgroundAlpha(1.0);
 

diff --git a/geometry/render/dev/render_gltf_client/test/run_simulation_and_render.cc b/geometry/render/dev/render_gltf_client/test/run_simulation_and_render.cc
@@ -7,7 +7,7 @@
 #include "drake/common/find_resource.h"
 #include "drake/geometry/drake_visualizer.h"
 #include "drake/geometry/render/dev/render_gltf_client/factory.h"
-#include "drake/geometry/render/render_engine_vtk_factory.h"
+#include "drake/geometry/render_vtk/factory.h"
 #include "drake/geometry/scene_graph.h"
 #include "drake/lcm/drake_lcm.h"
 #include "drake/math/rigid_transform.h"
@@ -282,8 +282,7 @@ int do_main() {
   const std::string render_name("renderer");
   if (FLAGS_render_engine == "vtk") {
     scene_graph->AddRenderer(render_name,
-                             geometry::render::MakeRenderEngineVtk(
-                                 geometry::render::RenderEngineVtkParams()));
+                             geometry::MakeRenderEngineVtk({}));
   } else {  // FLAGS_render_engine == "client"
     scene_graph->AddRenderer(render_name,
                              geometry::MakeRenderEngineGltfClient(

diff --git a/geometry/render/render_engine_vtk_factory.cc b/geometry/render/render_engine_vtk_factory.cc
diff --git a/geometry/render/stub/render_engine_vtk.h b/geometry/render/stub/render_engine_vtk.h
@@ -0,0 +1,6 @@
+#pragma once
+
+#warning The include path drake/geometry/render/render_engine_vtk.h is deprecated and will be removed on 2022-09-01; instead, you use drake/geometry/render_vtk/factory.h and call MakeRenderEngineVtk() instead of directly constructing the RenderEngineVtk class yourself.
+
+#include "drake/geometry/render_vtk/factory.h"
+#include "drake/geometry/render_vtk/internal_render_engine_vtk.h"