[render] Remove RenderEngineOspray entirely (RobotLocomotion#14339)

* Remove RenderEngineOspray entirely Other than killing the class, its factory, bindings, and their tests, this also touches a fair amount of other sites in the code: 1. Documentation of various sorts have references to the render engine removed. 2. Build infrastructure removes explicit dependencies on OSPRay (and Embree). 3. Removed OSPRay-specific functionality from docker configuration.
Slumon · Nov 17, 2020 · 2411116 · 2411116
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diff --git a/bindings/pydrake/geometry_py.cc b/bindings/pydrake/geometry_py.cc
@@ -25,7 +25,6 @@
 #include "drake/geometry/query_results/penetration_as_point_pair.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_ospray_factory.h"
 #include "drake/geometry/render/render_engine_vtk_factory.h"
 #include "drake/geometry/render/render_label.h"
 #include "drake/geometry/scene_graph.h"
@@ -382,33 +381,6 @@ void def_geometry_render(py::module m) {
   m.def("MakeRenderEngineVtk", &MakeRenderEngineVtk, py::arg("params"),
       doc.MakeRenderEngineVtk.doc);
 
-  {
-    using Class = OsprayMode;
-    constexpr auto& cls_doc = doc.OsprayMode;
-    py::enum_<Class>(m, "OsprayMode", cls_doc.doc)
-        .value("kRayTracer", Class::kRayTracer, cls_doc.kRayTracer.doc)
-        .value("kPathTracer", Class::kPathTracer, cls_doc.kPathTracer.doc);
-  }
-
-  {
-    using Class = RenderEngineOsprayParams;
-    constexpr auto& cls_doc = doc.RenderEngineOsprayParams;
-    py::class_<Class>(m, "RenderEngineOsprayParams", cls_doc.doc)
-        .def(ParamInit<Class>())
-        .def_readwrite("mode", &Class::mode, cls_doc.mode.doc)
-        .def_readwrite("default_diffuse", &Class::default_diffuse,
-            cls_doc.default_diffuse.doc)
-        .def_readwrite("background_color", &Class::background_color,
-            cls_doc.background_color.doc)
-        .def_readwrite("samples_per_pixel", &Class::samples_per_pixel,
-            cls_doc.samples_per_pixel.doc)
-        .def_readwrite(
-            "use_shadows", &Class::use_shadows, cls_doc.use_shadows.doc);
-  }
-
-  m.def("MakeRenderEngineOspray", &MakeRenderEngineOspray, py::arg("params"),
-      doc.MakeRenderEngineOspray.doc);
-
   {
     py::class_<RenderLabel> render_label(m, "RenderLabel", doc.RenderLabel.doc);
     render_label

diff --git a/bindings/pydrake/test/geometry_test.py b/bindings/pydrake/test/geometry_test.py
@@ -599,32 +599,6 @@ def test_render_engine_vtk_params(self):
         self.assertEqual(params.default_label, label)
         self.assertTrue((params.default_diffuse == diffuse).all())
 
-    def test_render_engine_opsray(self):
-        params = mut.render.RenderEngineOsprayParams()
-        self.assertEqual(params.mode, mut.render.OsprayMode.kPathTracer)
-        self.assertIs(params.default_diffuse, None)
-        self.assertIs(params.background_color, None)
-        self.assertEqual(params.samples_per_pixel, 1)
-        self.assertEqual(params.use_shadows, True)
-
-        params = mut.render.RenderEngineOsprayParams(
-            mode=mut.render.OsprayMode.kRayTracer,
-            default_diffuse=[0.1, 0.2, 0.3, 0.4],
-            background_color=[1., 1., 1.],
-            samples_per_pixel=2,
-            use_shadows=False,
-        )
-        self.assertEqual(params.mode, mut.render.OsprayMode.kRayTracer)
-        np.testing.assert_array_equal(
-            params.default_diffuse, [0.1, 0.2, 0.3, 0.4])
-        np.testing.assert_array_equal(params.background_color, [1., 1., 1])
-        self.assertEqual(params.samples_per_pixel, 2)
-        self.assertEqual(params.use_shadows, False)
-
-        # Acceptance-test construction of renderer.
-        renderer = mut.render.MakeRenderEngineOspray(params=params)
-        self.assertIsInstance(renderer, mut.render.RenderEngine)
-
     def test_render_depth_camera_properties(self):
         obj = mut.render.DepthCameraProperties(width=320, height=240,
                                                fov_y=pi/6,

diff --git a/doc/gallery.rst b/doc/gallery.rst
@@ -86,6 +86,11 @@ arbitrary fixed position in the simulation's world frame) of the controlled
 The material properties are simple to highlight the impact of the lighting model.
 (October 2018)
 
+(Update 2020) The OSPRay-based renderer had an impoverished API and was little
+used. For maintenance reasons, it has been removed. If, in the future, users
+feel they'd like to have it back, please post an issue and we can investigate
+its restoration and completion.
+
 .. raw :: html
 
   <iframe width="800" height="224" src="https://www.youtube.com/embed/UKxytyIJmq8" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>

diff --git a/geometry/benchmarking/render_benchmark.cc b/geometry/benchmarking/render_benchmark.cc
@@ -5,7 +5,6 @@
 #include <gflags/gflags.h>
 
 #include "drake/common/filesystem.h"
-#include "drake/geometry/render/render_engine_ospray_factory.h"
 #include "drake/geometry/render/render_engine_vtk_factory.h"
 #include "drake/systems/sensors/image_writer.h"
 
@@ -65,28 +64,12 @@ RenderEngineBenchmark/VtkDepth/1/1/640/480                        1.35 ms
 RenderEngineBenchmark/VtkDepth/1/10/640/480                       13.0 ms         13.0 ms           50  // NOLINT(*)
 RenderEngineBenchmark/VtkLabel/1/1/640/480                        1.45 ms         1.45 ms          464  // NOLINT(*)
 RenderEngineBenchmark/VtkLabel/1/10/640/480                       26.1 ms         25.3 ms           37  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColor/1/1/640/480                  23.4 ms         22.7 ms           33  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColor/4/1/640/480                  28.8 ms         27.4 ms           23  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColor/8/1/640/480                  34.4 ms         32.9 ms           17  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColor/1/10/640/480                  193 ms          174 ms            3  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColor/1/1/320/240                  5.16 ms         5.09 ms          120  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColor/1/1/1280/960                 67.9 ms         65.2 ms           11  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColor/1/1/2560/1920                 283 ms          267 ms            2  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColorShadowsOff/1/1/640/480        15.7 ms         15.7 ms           43  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColorShadowsOff/4/1/640/480        20.0 ms         19.6 ms           30  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColorShadowsOff/8/1/640/480        25.2 ms         25.2 ms           28  // NOLINT(*)
-RenderEngineBenchmark/OsprayRayColorShadowsOff/1/10/640/480        162 ms          159 ms            4  // NOLINT(*)
-RenderEngineBenchmark/OsprayPathColor/1/1/640/480                 36.2 ms         35.3 ms           20  // NOLINT(*)
-RenderEngineBenchmark/OsprayPathColor/1/10/640/480                 351 ms          345 ms            2  // NOLINT(*)
  ```
 
  Additional configuration is possible via the following flags:
  - __save_image_path__: Enables saving the rendered images in the given
    location. Defaults to no saving.
  - __show_window__: Whether to display the rendered images. Defaults to false.
- - __samples_per_pixel__: The number of illumination samples per pixel when path
-   tracing with RenderEngineOspray. Higher numbers introduce higher quality at
-   increased cost. Defaults to 1.
 
  For example:
  ```
@@ -107,14 +90,6 @@ RenderEngineBenchmark/OsprayPathColor/1/10/640/480                 351 ms
      - __VtkColor__: Renders the color image from RenderEngineVtk.
      - __VtkDepth__: Renders the depth image from RenderEngineVtk.
      - __VtkLabel__: Renders the label image from RenderEngineVtk.
-     - __OsprayRayColor__: Renders the color image from RenderEngineOspray with
-       ray-traced shadows.
-     - __OsprayRayColorShadowsOff__: Renders the color image from
-       RenderEngineOspray without any shadows -- most closely approximates the
-       RenderEngineVtk color image.
-     - __OsprayPathColor__: Renders the color image from RenderEngineOspray with
-       path-traced global illumination (with only a single sample per pixel by
-       default, unless configured using --samples_per_pixel).
    - __camera_count__: Simply the number of independent cameras being rendered.
      The cameras are all co-located (same position, same view direction) so
      they each render the same image.
@@ -137,8 +112,6 @@ RenderEngineBenchmark/OsprayPathColor/1/10/640/480                 351 ms
        for label.
      - RenderEngineVtk also increased a factor of 10X when path-tracing the
        scene when we increased the number of cameras by a factor of 10X.
-   - The number of objects in the scene has an apparently negligible impact on
-     RenderEngineVtk, but a noticeable impact on RenderEngineOspray.
  */
 
 // Friend class for accessing RenderEngine's protected/private functionality.
@@ -169,8 +142,6 @@ using systems::sensors::SaveToTiff;
 DEFINE_string(save_image_path, "",
               "Enables saving rendered images in the given location");
 DEFINE_bool(show_window, false, "Whether to display the rendered images");
-DEFINE_int32(samples_per_pixel, 1,
-             "Number of illumination samples per pixel when path tracing");
 
 // Default sphere array sizes.
 const int kCols = 4;
@@ -205,24 +176,6 @@ class RenderEngineBenchmark : public benchmark::Fixture {
     SetupScene(sphere_count, camera_count, width, height);
   }
 
-  /* Set up the scene using the Ospray render engine.
-   @param sphere_count Number of spheres to include in the render.
-   @param camera_count Number of cameras to include in the render.
-   @param width Width of the render image.
-   @param height Height of the render image.
-   @param mode The OsprayMode, i.e. ray tracing or path tracing.
-   @param use_shadows Whether to render shadows when in ray tracing mode
-                      (`OsprayMode::kRayTracer`). Ignored in path tracing mode.
-   */
-  void SetupOsprayRender(const int sphere_count, const int camera_count,
-                         const int width, const int height, OsprayMode mode,
-                         bool use_shadows) {
-    RenderEngineOsprayParams params{
-        mode, {}, bg_rgb_, FLAGS_samples_per_pixel, use_shadows};
-    renderer_ = MakeRenderEngineOspray(params);
-    SetupScene(sphere_count, camera_count, width, height);
-  }
-
   /* Parse arguments from the benchmark state.
    @return A tuple representing the sphere count, camera count, width, and
            height.  */
@@ -395,90 +348,6 @@ BENCHMARK_REGISTER_F(RenderEngineBenchmark, VtkLabel)
     ->Args({1, 1, 640, 480})    // 1 sphere, 1 camera, 640 width, 480 height.
     ->Args({1, 10, 640, 480});  // 1 sphere, 10 cameras, 640 width, 480 height.
 
-BENCHMARK_DEFINE_F(RenderEngineBenchmark, OsprayRayColor)
-// NOLINTNEXTLINE(runtime/references)
-(benchmark::State& state) {
-  auto [sphere_count, camera_count, width, height] = ReadState(state);
-  SetupOsprayRender(sphere_count, camera_count, width, height,
-                    OsprayMode::kRayTracer, true);
-  for (auto _ : state) {
-    for (int i = 0; i < camera_count; ++i) {
-      renderer_->RenderColorImage(cameras_[i], FLAGS_show_window,
-                                  &color_image_);
-    }
-  }
-  if (!FLAGS_save_image_path.empty()) {
-    const std::string path_name =
-        image_path_name("OsprayRayColor", state, "png");
-    SaveToPng(color_image_, path_name);
-    saved_image_paths.insert(path_name);
-  }
-}
-BENCHMARK_REGISTER_F(RenderEngineBenchmark, OsprayRayColor)
-    ->Unit(benchmark::kMillisecond)
-    ->Args({1, 1, 640, 480})     // 1 sphere, 1 camera, 640 width, 480 height.
-    ->Args({4, 1, 640, 480})     // 4 spheres, 1 camera, 640 width, 480 height.
-    ->Args({8, 1, 640, 480})     // 8 spheres, 1 camera, 640 width, 480 height.
-    ->Args({1, 10, 640, 480})    // 1 sphere, 10 cameras, 640 width, 480 height.
-    ->Args({1, 1, 320, 240})     // 1 sphere, 1 camera, 320 width, 240 height.
-    ->Args({1, 1, 1280, 960})    // 1 sphere, 1 camera, 1280 width, 960 height.
-    ->Args({1, 1, 2560, 1920});  // 1 sphere, 1 camera, 2560 width, 1920 height.
-
-BENCHMARK_DEFINE_F(RenderEngineBenchmark, OsprayRayColorShadowsOff)
-// NOLINTNEXTLINE(runtime/references)
-(benchmark::State& state) {
-  auto [sphere_count, camera_count, width, height] = ReadState(state);
-  SetupOsprayRender(sphere_count, camera_count, width, height,
-                    OsprayMode::kRayTracer, false);
-  for (auto _ : state) {
-    for (int i = 0; i < camera_count; ++i) {
-      renderer_->RenderColorImage(cameras_[i], FLAGS_show_window,
-                                  &color_image_);
-    }
-  }
-  if (!FLAGS_save_image_path.empty()) {
-    const std::string path_name =
-        image_path_name("OsprayRayColorShadowsOff", state, "png");
-    SaveToPng(color_image_, path_name);
-    saved_image_paths.insert(path_name);
-  }
-}
-BENCHMARK_REGISTER_F(RenderEngineBenchmark, OsprayRayColorShadowsOff)
-    ->Unit(benchmark::kMillisecond)
-    ->Args({1, 1, 640, 480})    // 1 sphere, 1 camera, 640 width, 480 height.
-    ->Args({4, 1, 640, 480})    // 4 spheres, 1 camera, 640 width, 480 height.
-    ->Args({8, 1, 640, 480})    // 8 spheres, 1 camera, 640 width, 480 height.
-    ->Args({1, 10, 640, 480});  // 1 sphere, 10 cameras, 640 width, 480 height.
-
-BENCHMARK_DEFINE_F(RenderEngineBenchmark, OsprayPathColor)
-// NOLINTNEXTLINE(runtime/references)
-(benchmark::State& state) {
-  auto [sphere_count, camera_count, width, height] = ReadState(state);
-  SetupOsprayRender(sphere_count, camera_count, width, height,
-                    OsprayMode::kPathTracer, true);
-  for (auto _ : state) {
-    // NOTE: The ospray renderer has a quirk; if no poses update, subsequent
-    // render passes seem to accumulate into the same frame buffer, artificially
-    // improving the image quality, like increasing the number of per-pixel
-    // samples.
-    renderer_->UpdatePoses(poses_);
-    for (int i = 0; i < camera_count; ++i) {
-      renderer_->RenderColorImage(cameras_[i], FLAGS_show_window,
-                                  &color_image_);
-    }
-  }
-  if (!FLAGS_save_image_path.empty()) {
-    const std::string path_name =
-        image_path_name("OsprayPathColor", state, "png");
-    SaveToPng(color_image_, path_name);
-    saved_image_paths.insert(path_name);
-  }
-}
-BENCHMARK_REGISTER_F(RenderEngineBenchmark, OsprayPathColor)
-    ->Unit(benchmark::kMillisecond)
-    ->Args({1, 1, 640, 480})    // 1 sphere, 1 camera, 640 width, 480 height.
-    ->Args({1, 10, 640, 480});  // 1 sphere, 10 cameras, 640 width, 480 height.
-
 void Cleanup() {
   if (!RenderEngineBenchmark::saved_image_paths.empty()) {
     std::cout << "Saved rendered images to:" << std::endl;

diff --git a/geometry/geometry_roles.h b/geometry/geometry_roles.h
@@ -162,7 +162,6 @@ class ProximityProperties final : public GeometryProperties {
 
  Examples of functionality that depends on the perception role:
    - render::RenderEngineVtk
-   - render::RenderEngineOspray
  */
 class PerceptionProperties final : public GeometryProperties{
  public:

diff --git a/geometry/render/BUILD.bazel b/geometry/render/BUILD.bazel
@@ -18,7 +18,6 @@ drake_cc_package_library(
         ":camera_properties",
         ":render_camera",
         ":render_engine",
-        ":render_engine_ospray",
         ":render_engine_vtk",
         ":render_engine_vtk_base",
         ":render_label",
@@ -65,41 +64,6 @@ drake_cc_library(
     ],
 )
 
-# The VTK-OSPRay-based render engine implementation.
-drake_cc_library(
-    name = "render_engine_ospray",
-    srcs = [
-        "render_engine_ospray.cc",
-        "render_engine_ospray_factory.cc",
-    ],
-    hdrs = [
-        "render_engine_ospray.h",
-        "render_engine_ospray_factory.h",
-    ],
-    # render_engine_ospray.h directly pulls in VTK headers; leave it out of the
-    # install.
-    install_hdrs_exclude = ["render_engine_ospray.h"],
-    deps = [
-        ":render_engine",
-        ":render_engine_vtk_base",
-        "//common",
-        "//systems/sensors:color_palette",
-        "//systems/sensors:vtk_util",
-        "@eigen",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkCommonTransforms",
-        "@vtk//:vtkFiltersGeneral",
-        "@vtk//:vtkFiltersSources",
-        "@vtk//:vtkIOGeometry",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkRenderingCore",
-        "@vtk//:vtkRenderingOSPRay",
-        "@vtk//:vtkRenderingOpenGL2",
-        "@vtk//:vtkRenderingSceneGraph",
-    ],
-)
-
 # The VTK-OpenGL-based render engine implementation.
 drake_cc_library(
     name = "render_engine_vtk",
@@ -207,27 +171,6 @@ drake_cc_googletest(
     ],
 )
 
-drake_cc_googletest(
-    name = "render_engine_ospray_test",
-    data = [
-        ":test_models",
-        "//systems/sensors:test_models",
-    ],
-    # This generally flakes on CI for unknown reasons.
-    flaky = 1,
-    tags = vtk_test_tags() + [
-        # OSPRay uses TBB which is not tsan-friendly.
-        "no_tsan",
-    ],
-    deps = [
-        ":render_engine_ospray",
-        "//common:find_resource",
-        "//common/test_utilities:eigen_matrix_compare",
-        "//common/test_utilities:expect_throws_message",
-        "//math:geometric_transform",
-    ],
-)
-
 drake_cc_googletest(
     name = "render_engine_vtk_test",
     data = [