Update vtk and drake-visualizer versions

YinjieLin · Mar 20, 2019 · d27be3d · d27be3d
1 parent d92a0ce
commit d27be3d
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Showing 18 changed files with 542 additions and 55 deletions.
diff --git a/attic/systems/sensors/test/rgbd_renderer_ospray_test.cc b/attic/systems/sensors/test/rgbd_renderer_ospray_test.cc
@@ -198,7 +198,7 @@ TEST_F(RgbdRendererOSPRayTest, MeshTest) {
   const int x = kInlier.x;
   const int y = kInlier.y;
   // Color
-  CompareColor(color_.at(x, y), ColorI({104, 255, 129}), 214u, 2);
+  CompareColor(color_.at(x, y), ColorI({99, 255, 120}), 234u, 2);
 }
 
 TEST_F(RgbdRendererOSPRayTest, MeshMaterialNotFoundTest) {

diff --git a/attic/systems/sensors/test/rgbd_renderer_vtk_test.cc b/attic/systems/sensors/test/rgbd_renderer_vtk_test.cc
@@ -217,7 +217,7 @@ TEST_F(RgbdRendererVTKTest, MeshTest) {
   const int x = kInlier.x;
   const int y = kInlier.y;
   // Color
-  CompareColor(color_.at(x, y), ColorI({4u, 241u, 33u}), 255u,
+  CompareColor(color_.at(x, y), ColorI({6u, 255u, 46u}), 255u,
                kColorPixelTolerance);
   // Depth
   ASSERT_NEAR(depth_.at(x, y)[0], 2., kDepthTolerance);

diff --git a/doc/developers.rst b/doc/developers.rst
@@ -76,20 +76,20 @@ integration. All other configurations are provided on a best-effort basis.
 Drake requires a compiler running in C++14 mode or greater. MATLAB is only
 supported for CMake builds using the "Unix Makefiles" generator.
 
-+----------------------------------+-----------------+-----------------+------------+-------------------+--------+
-| Operating System                 | Build System    | C/C++ Compiler  | Java       | MATLAB (Optional) | Python |
-+==================================+=================+=================+============+===================+========+
-+----------------------------------+-----------------+-----------------+------------+-------------------+--------+
-| Ubuntu 16.04 LTS (Xenial Xerus)  | | Bazel 0.23    | | Clang 6.0     | OpenJDK 8  | R2017a            | 2.7.11 |
-|                                  | | CMake 3.5.1   | | GCC 5.4       |            |                   |        |
-+----------------------------------+-----------------+-----------------+------------+-------------------+--------+
-| Ubuntu 18.04 LTS (Bionic Beaver) | | Bazel 0.23    | | Clang 6.0     | OpenJDK 11 | R2018b            | 2.7.15 |
-|                                  | | CMake 3.10.2  | | GCC 7.3       |            |                   | 3.6.7  |
-+----------------------------------+-----------------+-----------------+------------+                   +--------+
-| macOS High Sierra (10.13)        | | Bazel 0.23    | Apple LLVM 10.0 | Oracle 11  |                   | 2.7.15 |
-+----------------------------------+ | CMake 3.13.2  |                 |            |                   | 3.7.2  |
-| macOS Mojave (10.14)             |                 |                 |            |                   |        |
-+----------------------------------+-----------------+-----------------+------------+-------------------+--------+
++----------------------------------+---------------+-----------------+------------+-------------------+--------+
+| Operating System                 | Build System  | C/C++ Compiler  | Java       | MATLAB (Optional) | Python |
++==================================+===============+=================+============+===================+========+
++----------------------------------+---------------+-----------------+------------+-------------------+--------+
+| Ubuntu 16.04 LTS (Xenial Xerus)  | | Bazel 0.23  | | Clang 6.0     | OpenJDK 8  | R2017a            | 2.7    |
+|                                  | | CMake 3.5   | | GCC 5.4       |            |                   |        |
++----------------------------------+---------------+-----------------+------------+-------------------+--------+
+| Ubuntu 18.04 LTS (Bionic Beaver) | | Bazel 0.23  | | Clang 6.0     | OpenJDK 11 | R2018b            | 2.7    |
+|                                  | | CMake 3.10  | | GCC 7.3       |            |                   | 3.6    |
++----------------------------------+---------------+-----------------+------------+                   +--------+
+| macOS High Sierra (10.13)        | | Bazel 0.23  | Apple LLVM 10.0 | Oracle 11  |                   | 2.7    |
++----------------------------------+ | CMake 3.13  |                 |            |                   | 3.7    |
+| macOS Mojave (10.14)             |               |                 |            |                   |        |
++----------------------------------+---------------+-----------------+------------+-------------------+--------+
 
 
 CPython is the only Python implementation supported. On all platforms, Python 2

diff --git a/setup/mac/binary_distribution/Brewfile b/setup/mac/binary_distribution/Brewfile
@@ -22,7 +22,7 @@ brew 'python@2'
 brew 'scipy'
 brew 'tinyxml'
 brew 'tinyxml2'
-brew 'vtk@8.1'
+brew 'vtk@8.2'
 brew 'yaml-cpp'
 brew 'zeromq'
 

diff --git a/setup/mac/binary_distribution/install_prereqs.sh b/setup/mac/binary_distribution/install_prereqs.sh
@@ -15,6 +15,9 @@ if ! command -v /usr/local/bin/brew &>/dev/null; then
 fi
 
 /usr/local/bin/brew update
+# TODO(jamiesnape): Remove line uninstalling embree, ospray, and [email protected]
+# formulae on or after 2019-06-30.
+/usr/local/bin/brew uninstall --force embree ospray [email protected]
 /usr/local/bin/brew bundle --file="${BASH_SOURCE%/*}/Brewfile"
 
 /usr/local/bin/pip2 install --upgrade --requirement "${BASH_SOURCE%/*}/requirements.txt"

diff --git a/setup/ubuntu/binary_distribution/packages-bionic.txt b/setup/ubuntu/binary_distribution/packages-bionic.txt
@@ -13,7 +13,6 @@ libhdf5-100
 libjpeg8
 libjsoncpp1
 liblapack3
-libnetcdf-c++4
 libnetcdf13
 libnlopt0
 libogg0

diff --git a/setup/ubuntu/binary_distribution/packages-xenial.txt b/setup/ubuntu/binary_distribution/packages-xenial.txt
@@ -13,7 +13,6 @@ libhdf5-10
 libjpeg8
 libjsoncpp1
 liblapack3
-libnetcdf-c++4
 libnetcdf11
 libnlopt0
 libogg0

diff --git a/setup/ubuntu/source_distribution/packages-bionic.txt b/setup/ubuntu/source_distribution/packages-bionic.txt
@@ -26,7 +26,6 @@ libjpeg8-dev
 libjsoncpp-dev
 liblapack-dev
 liblz4-dev
-libnetcdf-cxx-legacy-dev
 libnetcdf-dev
 libnlopt-dev
 libogg-dev

diff --git a/setup/ubuntu/source_distribution/packages-xenial.txt b/setup/ubuntu/source_distribution/packages-xenial.txt
@@ -26,7 +26,6 @@ libjpeg8-dev
 libjsoncpp-dev
 liblapack-dev
 liblz4-dev
-libnetcdf-cxx-legacy-dev
 libnetcdf-dev
 libnlopt-dev
 libogg-dev

diff --git a/tools/workspace/default.bzl b/tools/workspace/default.bzl
@@ -32,10 +32,12 @@ load("@drake//tools/workspace/ignition_math:repository.bzl", "ignition_math_repo
 load("@drake//tools/workspace/ignition_rndf:repository.bzl", "ignition_rndf_repository")  # noqa
 load("@drake//tools/workspace/ipopt:repository.bzl", "ipopt_repository")
 load("@drake//tools/workspace/json:repository.bzl", "json_repository")
+load("@drake//tools/workspace/jsoncpp:repository.bzl", "jsoncpp_repository")
 load("@drake//tools/workspace/lapack:repository.bzl", "lapack_repository")
 load("@drake//tools/workspace/lcm:repository.bzl", "lcm_repository")
 load("@drake//tools/workspace/lcmtypes_bot2_core:repository.bzl", "lcmtypes_bot2_core_repository")  # noqa
 load("@drake//tools/workspace/lcmtypes_robotlocomotion:repository.bzl", "lcmtypes_robotlocomotion_repository")  # noqa
+load("@drake//tools/workspace/libjpeg:repository.bzl", "libjpeg_repository")
 load("@drake//tools/workspace/liblz4:repository.bzl", "liblz4_repository")
 load("@drake//tools/workspace/libpng:repository.bzl", "libpng_repository")
 load("@drake//tools/workspace/libprotobuf:repository.bzl", "libprotobuf_repository")  # noqa
@@ -150,6 +152,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         ipopt_repository(name = "ipopt")
     if "json" not in excludes:
         json_repository(name = "json", mirrors = mirrors)
+    if "jsoncpp" not in excludes:
+        jsoncpp_repository(name = "jsoncpp")
     if "lapack" not in excludes:
         lapack_repository(name = "lapack")
     if "lcm" not in excludes:
@@ -158,6 +162,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         lcmtypes_bot2_core_repository(name = "lcmtypes_bot2_core", mirrors = mirrors)  # noqa
     if "lcmtypes_robotlocomotion" not in excludes:
         lcmtypes_robotlocomotion_repository(name = "lcmtypes_robotlocomotion", mirrors = mirrors)  # noqa
+    if "libjpeg" not in excludes:
+        libjpeg_repository(name = "libjpeg")
     if "liblz4" not in excludes:
         liblz4_repository(name = "liblz4")
     if "libpng" not in excludes:

diff --git a/tools/workspace/drake_visualizer/repository.bzl b/tools/workspace/drake_visualizer/repository.bzl
@@ -13,6 +13,11 @@ Archive naming convention:
 Build configuration:
     BUILD_SHARED_LIBS=OFF
     CMAKE_BUILD_TYPE=Release
+    CMAKE_C_FLAGS=-D_FORTIFY_SOURCE=2 -fstack-protector-strong
+    CMAKE_CXX_FLAGS=-D_FORTIFY_SOURCE=2 -fstack-protector-strong
+    CMAKE_EXE_LINKER_FLAGS=-Wl,-Bsymbolic-functions -Wl,-z,now -Wl,-z,relro
+    CMAKE_MODULE_LINKER_FLAGS=-Wl,-Bsymbolic-functions -Wl,-z,now -Wl,-z,relro
+    CMAKE_SHARED_LINKER_FLAGS=-Wl,-Bsymbolic-functions -Wl,-z,now -Wl,-z,relro
     DD_QT_VERSION=5
     USE_EXTERNAL_INSTALL=ON
     USE_LCM=ON
@@ -51,14 +56,14 @@ def _impl(repository_ctx):
         fail(os_result.error)
 
     if os_result.is_macos:
-        archive = "dv-0.1.0-318-gd10dfa9-python-2.7.15-qt-5.12.0-vtk-8.1.1-mac-x86_64-1.tar.gz"  # noqa
-        sha256 = "553ac30b3f4920eeb3cad7e86ec54e9eb076ecf2e3c9dfdcd4721c750652a4cc"  # noqa
+        archive = "dv-0.1.0-337-g70c49254-python-2.7.16-qt-5.12.2-vtk-8.2.0-mac-x86_64.tar.gz"  # noqa
+        sha256 = "3402f8de5f782235100519da3960544fdced23f72394010f15c294d9462bfc11"  # noqa
     elif os_result.ubuntu_release == "16.04":
-        archive = "dv-0.1.0-318-gd10dfa9-python-2.7.12-qt-5.5.1-vtk-8.1.1-xenial-x86_64.tar.gz"  # noqa
-        sha256 = "818f049ce43f1fcbb0552cfe152a43aae4f990179092689e6215176ca216b00a"  # noqa
+        archive = "dv-0.1.0-337-g70c49254-python-2.7.12-qt-5.5.1-vtk-8.2.0-xenial-x86_64.tar.gz"  # noqa
+        sha256 = "683209fa47326fb29dda0fe7d13affc36d64fa1cddc9494699ed25b0dffb41a7"  # noqa
     elif os_result.ubuntu_release == "18.04":
-        archive = "dv-0.1.0-318-gd10dfa9-python-2.7.15-qt-5.9.5-vtk-8.1.1-bionic-x86_64.tar.gz"  # noqa
-        sha256 = "fb1a36196eefea1879b5cd9c75338add1baef880727475f44f0453887ccc1b2f"  # noqa
+        archive = "dv-0.1.0-337-g70c49254-python-2.7.15-qt-5.9.5-vtk-8.2.0-bionic-x86_64.tar.gz"  # noqa
+        sha256 = "a4d630e907b97fd2e77d2fb8384693494471c9db97be1eaf481c369854c6d50a"  # noqa
     else:
         fail("Operating system is NOT supported", attr = os_result)
 

diff --git a/tools/workspace/jsoncpp/BUILD.bazel b/tools/workspace/jsoncpp/BUILD.bazel
@@ -0,0 +1,8 @@
+# -*- python -*-
+
+# This file exists to make our directory into a Bazel package, so that our
+# neighboring *.bzl file can be loaded elsewhere.
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()
diff --git a/tools/workspace/jsoncpp/repository.bzl b/tools/workspace/jsoncpp/repository.bzl
@@ -0,0 +1,23 @@
+# -*- mode: python -*-
+
+load(
+    "@drake//tools/workspace:pkg_config.bzl",
+    "pkg_config_repository",
+)
+
+def jsoncpp_repository(
+        name,
+        licenses = [
+            "notice",  # MIT
+            "unencumbered",  # Public-Domain
+        ],
+        modname = "jsoncpp",
+        pkg_config_paths = ["/usr/local/opt/jsoncpp/lib/pkgconfig"],
+        **kwargs):
+    pkg_config_repository(
+        name = name,
+        licenses = licenses,
+        modname = modname,
+        pkg_config_paths = pkg_config_paths,
+        **kwargs
+    )
diff --git a/tools/workspace/libjpeg/BUILD.bazel b/tools/workspace/libjpeg/BUILD.bazel
@@ -0,0 +1,8 @@
+# -*- python -*-
+
+# This file exists to make our directory into a Bazel package, so that our
+# neighboring *.bzl file can be loaded elsewhere.
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()
diff --git a/tools/workspace/libjpeg/repository.bzl b/tools/workspace/libjpeg/repository.bzl
@@ -0,0 +1,20 @@
+# -*- mode: python -*-
+
+load(
+    "@drake//tools/workspace:pkg_config.bzl",
+    "pkg_config_repository",
+)
+
+def libjpeg_repository(
+        name,
+        licenses = ["notice"],  # IJG
+        modname = "libjpeg",
+        pkg_config_paths = ["/usr/local/opt/libjpeg/lib/pkgconfig"],
+        **kwargs):
+    pkg_config_repository(
+        name = name,
+        licenses = licenses,
+        modname = modname,
+        pkg_config_paths = pkg_config_paths,
+        **kwargs
+    )
diff --git a/tools/workspace/vtk/ospray_no_fast_math.patch b/tools/workspace/vtk/ospray_no_fast_math.patch
@@ -1,23 +1,31 @@
+From: Jamie Snape <[email protected]>
+Date: Tue, 19 Mar 2019 00:00:00 -0400
+Subject: [PATCH] Do not enable fast-math compiler optimizations when compiling with GCC and ISPC
+---
+ components/ospcommon/cmake/gcc.cmake  |    4 ++--
+ components/ospcommon/cmake/ispc.cmake |    1 -
+ 2 files changed, 2 insertions(+), 3 deletions(-)
+
 diff --git a/components/ospcommon/cmake/gcc.cmake b/components/ospcommon/cmake/gcc.cmake
-index 3463cd075..6b1c67130 100644
+index dff29f7b6..5d209322a 100644
 --- a/components/ospcommon/cmake/gcc.cmake
 +++ b/components/ospcommon/cmake/gcc.cmake
-@@ -30,8 +30,8 @@ ENDIF()
+@@ -31,8 +31,8 @@ endif()
 
- SET(CMAKE_CXX_FLAGS "${OSPRAY_CXX_FLAGS} ${CMAKE_CXX_FLAGS}")
- SET(CMAKE_CXX_FLAGS_DEBUG          "-DDEBUG  -g     -Wstrict-aliasing=1")
--SET(CMAKE_CXX_FLAGS_RELEASE        "-DNDEBUG    -O3 -Wstrict-aliasing=1 -ffast-math -fno-finite-math-only ")
--SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-DNDEBUG -g -O3 -Wstrict-aliasing=1 -ffast-math -fno-finite-math-only ")
-+SET(CMAKE_CXX_FLAGS_RELEASE        "-DNDEBUG    -O3 -Wstrict-aliasing=1 ")
-+SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-DNDEBUG -g -O3 -Wstrict-aliasing=1 ")
- SET(CMAKE_C_FLAGS "-std=c99 ${CMAKE_C_FLAGS}")
+ set(CMAKE_CXX_FLAGS "${OSPRAY_CXX_FLAGS} ${CMAKE_CXX_FLAGS}")
+ set(CMAKE_CXX_FLAGS_DEBUG          "-DDEBUG  -g     -Wstrict-aliasing=1")
+-set(CMAKE_CXX_FLAGS_RELEASE        "-DNDEBUG    -O3 -Wstrict-aliasing=1 -ffast-math -fno-finite-math-only ")
+-set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-DNDEBUG -g -O3 -Wstrict-aliasing=1 -ffast-math -fno-finite-math-only ")
++set(CMAKE_CXX_FLAGS_RELEASE        "-DNDEBUG    -O3 -Wstrict-aliasing=1")
++set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-DNDEBUG -g -O3 -Wstrict-aliasing=1")
 
- IF (APPLE)
+ if (APPLE)
+   set(CMAKE_CXX_FLAGS "-mmacosx-version-min=10.9 ${CMAKE_CXX_FLAGS}") # we only use MacOSX 10.9 features
 diff --git a/components/ospcommon/cmake/ispc.cmake b/components/ospcommon/cmake/ispc.cmake
-index 7d02f37c2..12f91aacd 100644
+index fde7eff06..a1abce4b4 100644
 --- a/components/ospcommon/cmake/ispc.cmake
 +++ b/components/ospcommon/cmake/ispc.cmake
-@@ -186,7 +186,6 @@ MACRO (OSPRAY_ISPC_COMPILE)
+@@ -199,7 +199,6 @@ MACRO (OSPRAY_ISPC_COMPILE)
        ${ISPC_OPT_FLAGS}
        --target=${ISPC_TARGET_ARGS}
        --woff