[workspace] Build VTK from source

RobotLocomotion · Aug 30, 2023 · c102629 · c102629
1 parent bc06fc5
commit c102629
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Showing 47 changed files with 599 additions and 1,679 deletions.
diff --git a/geometry/proximity/BUILD.bazel b/geometry/proximity/BUILD.bazel
@@ -819,9 +819,9 @@ drake_cc_library(
     ],
     deps = [
         "@fmt",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOLegacy",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOLegacy",
     ],
 )
 

diff --git a/geometry/render_gl/BUILD.bazel b/geometry/render_gl/BUILD.bazel
@@ -192,10 +192,10 @@ drake_cc_library_ubuntu_only(
         ":internal_opengl_context",
     ],
     deps = [
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkImagingCore",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOImage",
+        "@vtk_internal//:vtkImagingCore",
     ],
 )
 
@@ -242,9 +242,9 @@ drake_cc_googletest_ubuntu_only(
         "//common/test_utilities:expect_throws_message",
         "//geometry/render:render_label",
         "//systems/sensors:color_palette",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOImage",
     ],
 )
 

diff --git a/geometry/render_gltf_client/BUILD.bazel b/geometry/render_gltf_client/BUILD.bazel
@@ -100,9 +100,9 @@ drake_cc_library(
         "//systems/sensors:image",
         "//systems/sensors:vtk_image_reader_writer",
         "@picosha2_internal//:picosha2",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOImage",
     ],
 )
 
@@ -124,10 +124,10 @@ drake_cc_library(
         "//geometry/render_vtk:internal_render_engine_vtk",
         "//systems/sensors:image",
         "@nlohmann_internal//:nlohmann",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonMath",
-        "@vtk//:vtkIOExport",
-        "@vtk//:vtkRenderingCore",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonMath",
+        "@vtk_internal//:vtkIOExport",
+        "@vtk_internal//:vtkRenderingCore",
     ],
 )
 
@@ -246,8 +246,8 @@ drake_cc_googletest(
         "//common/test_utilities:expect_throws_message",
         "//systems/sensors/test_utilities:image_compare",
         "@nlohmann_internal//:nlohmann",
-        "@vtk//:vtkCommonMath",
-        "@vtk//:vtkRenderingCore",
+        "@vtk_internal//:vtkCommonMath",
+        "@vtk_internal//:vtkRenderingCore",
     ],
 )
 
@@ -273,12 +273,12 @@ drake_cc_binary(
         "//systems/sensors:color_palette",
         "//systems/sensors:image",
         "@gflags",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonMath",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkIOImport",
-        "@vtk//:vtkRenderingCore",
-        "@vtk//:vtkRenderingOpenGL2",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonMath",
+        "@vtk_internal//:vtkIOImage",
+        "@vtk_internal//:vtkIOImport",
+        "@vtk_internal//:vtkRenderingCore",
+        "@vtk_internal//:vtkRenderingOpenGL2",
     ],
 )
 

diff --git a/geometry/render_vtk/BUILD.bazel b/geometry/render_vtk/BUILD.bazel
@@ -62,16 +62,16 @@ drake_cc_library(
         "//geometry/render_vtk:render_engine_vtk_params",
         "//systems/sensors:color_palette",
         "@eigen",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonExecutionModel",
-        "@vtk//:vtkCommonTransforms",
-        "@vtk//:vtkFiltersSources",
-        "@vtk//:vtkIOGeometry",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkIOImport",
-        "@vtk//:vtkImagingCore",
-        "@vtk//:vtkRenderingCore",
-        "@vtk//:vtkRenderingOpenGL2",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonExecutionModel",
+        "@vtk_internal//:vtkCommonTransforms",
+        "@vtk_internal//:vtkFiltersSources",
+        "@vtk_internal//:vtkIOGeometry",
+        "@vtk_internal//:vtkIOImage",
+        "@vtk_internal//:vtkIOImport",
+        "@vtk_internal//:vtkImagingCore",
+        "@vtk_internal//:vtkRenderingCore",
+        "@vtk_internal//:vtkRenderingOpenGL2",
     ],
 )
 
@@ -87,12 +87,12 @@ drake_cc_library(
         "//geometry:shape_specification",
         "//geometry/render:render_material",
         "//geometry/render:render_mesh",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkCommonExecutionModel",
-        "@vtk//:vtkCommonTransforms",
-        "@vtk//:vtkFiltersGeneral",
-        "@vtk//:vtkFiltersSources",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkCommonExecutionModel",
+        "@vtk_internal//:vtkCommonTransforms",
+        "@vtk_internal//:vtkFiltersGeneral",
+        "@vtk_internal//:vtkFiltersSources",
     ],
 )
 
@@ -106,9 +106,9 @@ drake_cc_library(
         "//common:essential",
         "//math:geometric_transform",
         "@eigen",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonTransforms",
-        "@vtk//:vtkFiltersSources",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonTransforms",
+        "@vtk_internal//:vtkFiltersSources",
     ],
 )
 
@@ -153,19 +153,19 @@ drake_cc_googletest(
         "//common/test_utilities",
         "//geometry/test_utilities:dummy_render_engine",
         "//math:geometric_transform",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkRenderingCore",
-        "@vtk//:vtkRenderingOpenGL2",
+        "@vtk_internal//:vtkIOImage",
+        "@vtk_internal//:vtkRenderingCore",
+        "@vtk_internal//:vtkRenderingOpenGL2",
     ],
 )
 
 drake_cc_googletest(
     name = "internal_vtk_util_test",
     deps = [
         ":internal_vtk_util",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkFiltersSources",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkFiltersSources",
     ],
 )
 

diff --git a/setup/mac/binary_distribution/Brewfile b/setup/mac/binary_distribution/Brewfile
@@ -6,7 +6,6 @@ tap 'robotlocomotion/director'
 cask 'adoptopenjdk' unless system '/usr/libexec/java_home --version 1.8+ --failfast &> /dev/null'
 
 brew 'cmake'
-brew 'double-conversion'
 brew 'eigen'
 brew 'gcc'
 brew 'fmt'
@@ -15,14 +14,12 @@ brew 'glib'
 brew 'graphviz'
 brew 'ipopt'
 brew 'libpng'
-brew 'lz4'
 brew 'numpy'
 brew 'openblas'
 brew 'pkg-config'
 brew '[email protected]'
 brew 'spdlog'
 brew 'tinyxml'
-brew 'robotlocomotion/director/[email protected]'
 brew 'xz'
 brew 'yaml-cpp'
 brew 'zeromq'

diff --git a/setup/ubuntu/binary_distribution/packages-focal.txt b/setup/ubuntu/binary_distribution/packages-focal.txt
@@ -3,7 +3,6 @@ default-jre
 jupyter-notebook
 libblas3
 libbz2-1.0
-libdouble-conversion3
 libeigen3-dev
 libexpat1
 libfreetype6
@@ -18,8 +17,6 @@ libjchart2d-java
 libjpeg-turbo8
 libjsoncpp1
 liblapack3
-liblz4-1
-liblzma5
 libmumps-seq-5.2.1
 libnetcdf15
 libogg0

diff --git a/setup/ubuntu/binary_distribution/packages-jammy.txt b/setup/ubuntu/binary_distribution/packages-jammy.txt
@@ -3,7 +3,6 @@ default-jre
 jupyter-notebook
 libblas-dev
 libbz2-1.0
-libdouble-conversion3
 libeigen3-dev
 libexpat1
 libfreetype6
@@ -18,8 +17,6 @@ libjchart2d-java
 libjpeg-turbo8
 libjsoncpp25
 liblapack3
-liblz4-1
-liblzma5
 libmumps-seq-5.4
 libnetcdf19
 libogg0
@@ -34,7 +31,6 @@ libspdlog-dev
 libsqlite3-0
 libtheora0
 libtiff5
-libvtk9.1
 libx11-6
 libxml2
 libxt6

diff --git a/setup/ubuntu/source_distribution/packages-focal.txt b/setup/ubuntu/source_distribution/packages-focal.txt
@@ -6,16 +6,13 @@ git
 libblas-dev
 libbz2-dev
 libclang-12-dev
-libdouble-conversion-dev
 libexpat1-dev
 libgl-dev
 libglew-dev
 libglib2.0-dev
 libglx-dev
 libjpeg-turbo8-dev
 liblapack-dev
-liblz4-dev
-liblzma-dev
 libmumps-seq-dev
 libopengl-dev
 libpng-dev

diff --git a/setup/ubuntu/source_distribution/packages-jammy.txt b/setup/ubuntu/source_distribution/packages-jammy.txt
@@ -5,23 +5,19 @@ gfortran
 git
 libbz2-dev
 libclang-12-dev
-libdouble-conversion-dev
 libexpat1-dev
 libgl-dev
 libglew-dev
 libglib2.0-dev
 libglx-dev
 libjpeg-turbo8-dev
 liblapack-dev
-liblz4-dev
-liblzma-dev
 libmumps-seq-dev
 libopengl-dev
 libpng-dev
 libtiff-dev
 libtinyxml-dev
 libtool
-libvtk9-dev
 libx11-dev
 ocl-icd-opencl-dev
 opencl-headers

diff --git a/systems/sensors/BUILD.bazel b/systems/sensors/BUILD.bazel
@@ -216,8 +216,8 @@ drake_cc_library(
         ":lcm_image_traits",
         ":vtk_image_reader_writer",
         "//lcmtypes:image_array",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkIOImage",
         "@zlib",
     ],
 )
@@ -321,9 +321,9 @@ drake_cc_library(
     ],
     deps = [
         ":vtk_image_reader_writer",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOImage",
     ],
 )
 
@@ -350,8 +350,8 @@ drake_cc_library(
     deps = [
         ":image_file_format",
         "//common:unused",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkIOImage",
     ],
 )
 
@@ -607,9 +607,9 @@ drake_cc_googletest(
         ":vtk_image_reader_writer",
         "//common:temp_directory",
         "//common/test_utilities:expect_throws_message",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkCommonDataModel",
+        "@vtk_internal//:vtkIOImage",
     ],
 )
 

diff --git a/systems/sensors/test_utilities/BUILD.bazel b/systems/sensors/test_utilities/BUILD.bazel
@@ -24,8 +24,8 @@ drake_cc_library(
     deps = [
         "//systems/sensors:image",
         "@gtest//:without_main",
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkIOImage",
+        "@vtk_internal//:vtkCommonCore",
+        "@vtk_internal//:vtkIOImage",
     ],
 )
 

diff --git a/tools/install/libdrake/BUILD.bazel b/tools/install/libdrake/BUILD.bazel
@@ -165,28 +165,6 @@ cc_library(
     }),
 )
 
-# Depend on the subset of VTK's shared libraries that Drake uses.
-cc_library(
-    name = "vtk_deps",
-    deps = [
-        # TODO(jwnimmer-tri) This duplicates the list of VTK libraries needed
-        # by //sensors.  We should find a way for ":drake_shared_library" to be
-        # declared without having to repeat this list here.
-        "@vtk//:vtkCommonCore",
-        "@vtk//:vtkCommonDataModel",
-        "@vtk//:vtkCommonExecutionModel",
-        "@vtk//:vtkCommonTransforms",
-        "@vtk//:vtkFiltersGeneral",
-        "@vtk//:vtkFiltersSources",
-        "@vtk//:vtkIOExport",
-        "@vtk//:vtkIOGeometry",
-        "@vtk//:vtkIOImage",
-        "@vtk//:vtkIOImport",
-        "@vtk//:vtkRenderingCore",
-        "@vtk//:vtkRenderingOpenGL2",
-    ],
-)
-
 # Depend on X11 iff on Ubuntu and not MacOS.
 cc_library(
     name = "x11_deps",
@@ -229,7 +207,6 @@ cc_library(
         ":gurobi_deps",
         ":ipopt_deps",
         ":mosek_deps",
-        ":vtk_deps",
         ":x11_deps",
         "//common:drake_marker_shared_library",
         "@lcm",

diff --git a/tools/wheel/Dockerfile b/tools/wheel/Dockerfile
@@ -25,11 +25,6 @@ ADD image/build-dependencies.sh /image/
 
 RUN /image/build-dependencies.sh
 
-ADD image/vtk-args /opt/drake-wheel-build/vtk/
-ADD image/build-vtk.sh /image/
-
-RUN /image/build-vtk.sh
-
 # -----------------------------------------------------------------------------
 # Install Python.
 # -----------------------------------------------------------------------------