[workspace] Use VTK inline namespace

TODO(svenevs): computer xfer, create a useful commit message...

geometry/render_gltf_client/internal_render_engine_gltf_client.cc

@@ -169,63 +169,6 @@ std::unique_ptr<RenderEngine> RenderEngineGltfClient::DoClone() const {
       new RenderEngineGltfClient(*this));
 }
 
-void RenderEngineGltfClient::UpdateViewpoint(
-    const math::RigidTransformd& X_WC) {
-  /* The vtkGLTFExporter populates the camera matrix in "nodes" incorrectly in
-   VTK 9.1.0.  It should be providing the inverted modelview transformation
-   matrix since the "nodes" array is to contain global transformations.  See:
-
-   https://gitlab.kitware.com/vtk/vtk/-/merge_requests/8883
-
-   When VTK is updated, RenderEngineGltfClient::UpdateViewpoint can be deleted
-   as RenderEngineVtk::UpdateViewpoint will correctly update the transforms on
-   the cameras. */
-#if VTK_VERSION_NUMBER > VTK_VERSION_CHECK(9, 1, 0)
-#error "UpdateViewpoint can be removed, modified transform no longer needed."
-#endif
-  /* Build the alternate transform, which consists of both an inversion of the
-   input transformation as well as a coordinate system inversion.  For the
-   coordinate inversion, we must account for:
-
-   1. VTK and drake have inverted Y axis directions.
-   2. The camera Z axis needs to be pointing in the opposite direction.
-
-   RenderEngineVtk::UpdateViewpoint will result in the vtkCamera instance's
-   SetPosition, SetFocalPoint, and SetViewUp methods being called, followed by
-   applying the transform from drake.  See implementation of vtkCamera in VTK,
-   the Set{Position,FocalPoint,ViewUp} methods result in the camera internally
-   recomputing its basis -- users do not have the ability to directly control
-   the modelview transform.  So we engineer a drake transform to pass back to
-   RenderEngineVtk::UpdateViewpoint that will result in the final vtkCamera
-   having an inverted modelview transformation than what would be needed to
-   render so that the vtkGLTFExporter will export the "correct" matrix.
-
-   When performing this coordinate-system "hand-change", we seek to invert both
-   the y and z axes.  The way to do this would be to use the identity matrix
-   with the axes being changed scaled by -1 (the "hand change") and both pre and
-   post multiply the matrix being changed:
-
-   | 1  0  0  0 |   | a  b  c  d |   | 1  0  0  0 |   |  a -b -c  d |
-   | 0 -1  0  0 | * | e  f  g  h | * | 0 -1  0  0 | = | -e  f  g -h |
-   | 0  0 -1  0 |   | i  j  k  l |   | 0  0 -1  0 |   | -i  j  k -l |
-   | 0  0  0  1 |   | m  n  o  p |   | 0  0  0  1 |   |  m -n -o  p |
-
-   which we can build directly, noting that the last row | m -n -o p | will be
-   | 0 0 0 1 | (homogeneous row) and can therefore be skipped.
-
-   NOTE: Use the inverse of RigidTransformd, which will transpose the rotation
-   and negate the translation rather than doing a full matrix inverse. */
-  Eigen::Matrix4d hacked_matrix{X_WC.inverse().GetAsMatrix4()};
-  hacked_matrix(0, 1) *= -1.0;  // -b
-  hacked_matrix(0, 2) *= -1.0;  // -c
-  hacked_matrix(1, 0) *= -1.0;  // -e
-  hacked_matrix(1, 3) *= -1.0;  // -h
-  hacked_matrix(2, 0) *= -1.0;  // -i
-  hacked_matrix(2, 3) *= -1.0;  // -l
-  math::RigidTransformd X_WC_hacked{hacked_matrix};
-  RenderEngineVtk::UpdateViewpoint(X_WC_hacked);
-}
-
 void RenderEngineGltfClient::DoRenderColorImage(
     const ColorRenderCamera& camera, ImageRgba8U* color_image_out) const {
   const int64_t color_scene_id = GetNextSceneId();

geometry/render_gltf_client/internal_render_engine_gltf_client.h

@@ -16,7 +16,8 @@ namespace internal {
 /* A RenderEngine that exports
  <a href="https://www.khronos.org/registry/glTF/specs/2.0/glTF-2.0.html">glTF
  </a> scenes, uploads to a render server, and retrieves the renderings back. */
-class RenderEngineGltfClient : public geometry::render::RenderEngineVtk {
+class __attribute__((visibility("hidden"))) RenderEngineGltfClient
+    : public geometry::render::RenderEngineVtk {
  public:
   /* @name Does not allow copy, move, or assignment  */
   //@{
@@ -33,9 +34,6 @@ class RenderEngineGltfClient : public geometry::render::RenderEngineVtk {
   RenderEngineGltfClient(const RenderEngineGltfClientParams& parameters =
                              RenderEngineGltfClientParams());
 
-  // TODO(svenevs): Remove when VTK is updated, see implementation for details.
-  void UpdateViewpoint(const math::RigidTransformd& X_WC) override;
-
   const RenderEngineGltfClientParams& get_params() const {
     return render_client_->get_params();
   }

geometry/render_gltf_client/test/internal_render_engine_gltf_client_test.cc

@@ -101,83 +101,6 @@ TEST_F(RenderEngineGltfClientTest, Clone) {
   EXPECT_NE(engine.temp_directory(), clone_engine->temp_directory());
 }
 
-// TODO(svenevs): remove when VTK is updated, see implementation for details.
-TEST_F(RenderEngineGltfClientTest, UpdateViewpoint) {
-  RenderEngineGltfClient engine{params_};
-  const Vector3d translation{0.8, 0.0, 0.5};
-  const RigidTransformd X_WB(RollPitchYawd{-M_PI * 0.7, 0, M_PI / 2},
-                             translation);
-
-  // First, use the RenderEngineVtk::UpdateViewpoint and gather matrices.
-  engine.RenderEngineVtk::UpdateViewpoint(X_WB);
-  const Matrix4d vtk_color_mat =
-      engine.CameraModelViewTransformMatrix(ImageType::kColor);
-  const Matrix4d vtk_depth_mat =
-      engine.CameraModelViewTransformMatrix(ImageType::kDepth);
-  const Matrix4d vtk_label_mat =
-      engine.CameraModelViewTransformMatrix(ImageType::kLabel);
-
-  // Use the RenderEngineGltfClient::UpdateViewpoint and gather new matrices.
-  engine.UpdateViewpoint(X_WB);
-  const Matrix4d gltf_color_mat =
-      engine.CameraModelViewTransformMatrix(ImageType::kColor);
-  const Matrix4d gltf_depth_mat =
-      engine.CameraModelViewTransformMatrix(ImageType::kDepth);
-  const Matrix4d gltf_label_mat =
-      engine.CameraModelViewTransformMatrix(ImageType::kLabel);
-
-  /* A ModelView transform can be inverted directly by inverting the rotation
-   via transpose, and using this inverted rotation to rotate the negated
-   translation.  We do not need to be concerned about non-uniform scaling on the
-   diagonal or the bottom row. */
-  auto transform_inverse = [](const Eigen::Matrix4d& mat) {
-    Matrix4d inverse{mat};
-    // Invert the rotation via transpose.
-    inverse.topLeftCorner<3, 3>().transposeInPlace();
-    // Rotate the inverted translation.
-    const Vector3d t = inverse.topRightCorner<3, 1>();
-    const Vector3d t_inv = inverse.topLeftCorner<3, 3>() * (-t);
-    inverse.topRightCorner<3, 1>() = t_inv;
-    return inverse;
-  };
-  auto compare = [&](const Matrix4d& vtk, const Matrix4d& gltf) {
-    constexpr double tolerance = 1e-9;
-
-    /* We expect that the MVT from RenderEngineVtk and RenderEngineGltfClient
-     the inverse of one another.  The RenderEngineGltfClient::UpdateViewpoint
-     method engineers a hacked matrix to result in the effect of
-     RenderEngineVtk::UpdateViewpoint modifying the underlying vtkCamera to
-     produce the inverted matrix.  This is because the vtkGLTFExporter was
-     incorrectly exporting the vtkCamera's ModelViewTransformMatrix, which
-     transforms objects in the world into the view of the camera.  The inverse
-     of this matrix is what was supposed to be exported, since the "nodes" array
-     in glTF is for world coordinate transforms. */
-    // Compare the rotations.
-    const Matrix4d vtk_inv = transform_inverse(vtk);
-    const Matrix3d R_vtk_inv = vtk_inv.topLeftCorner<3, 3>();
-    const Matrix3d R_gltf = gltf.topLeftCorner<3, 3>();
-    EXPECT_TRUE(R_vtk_inv.isApprox(R_gltf, tolerance))
-        << "Rotation matrices not similar enough:\nR_vtk_inv:\n"
-        << R_vtk_inv << "\nR_gltf:\n"
-        << R_gltf << '\n';
-
-    // Compare the translations.
-    const Vector3d t_vtk_inv = vtk_inv.topRightCorner<3, 1>();
-    const Vector3d t_gltf = gltf.topRightCorner<3, 1>();
-    EXPECT_TRUE(t_vtk_inv.isApprox(t_gltf, tolerance))
-        << "Translation vectors not similar enough:\nt_vtk_inv:\n"
-        << t_vtk_inv << "\nt_gltf:\n"
-        << t_gltf << '\n';
-
-    // For posterity, compare the homogeneous row.
-    const Vector4d gltf_homogeneous = gltf.bottomRightCorner<1, 4>();
-    EXPECT_EQ(gltf_homogeneous, Vector4d(0, 0, 0, 1));
-  };
-  compare(vtk_color_mat, gltf_color_mat);
-  compare(vtk_depth_mat, gltf_depth_mat);
-  compare(vtk_label_mat, gltf_label_mat);
-}
-
 class FakeServer : public HttpService {
  public:
   FakeServer() = default;

geometry/render_vtk/internal_render_engine_vtk.h

@@ -47,7 +47,8 @@ struct ModuleInitVtkRenderingOpenGL2 {
 // See also shaders::kDepthFS, this is where the variables are used.
 // For the detail of VTK's callback mechanism, please refer to:
 // https://www.vtk.org/doc/nightly/html/classvtkCommand.html#details
-class ShaderCallback : public vtkCommand {
+class __attribute__((visibility("hidden"))) ShaderCallback
+    : public vtkCommand {
  public:
   DRAKE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN(ShaderCallback);
 
@@ -89,8 +90,8 @@ enum ImageType {
 #endif  // !DRAKE_DOXYGEN_CXX
 
 /** See documentation of MakeRenderEngineVtk().  */
-class RenderEngineVtk : public RenderEngine,
-                        private internal::ModuleInitVtkRenderingOpenGL2 {
+class __attribute__((visibility("hidden"))) RenderEngineVtk
+    : public RenderEngine, private internal::ModuleInitVtkRenderingOpenGL2 {
  public:
   /** @name Does not allow copy, move, or assignment  */
   //@{

tools/workspace/vtk/build_binaries_with_docker

@@ -48,5 +48,5 @@ rm -f vtk-*.tar.gz{,.sha256}
 build focal --build-arg PLATFORM=ubuntu:20.04
 extract focal
 
-build jammy --build-arg PLATFORM=ubuntu:22.04
-extract jammy
+# build jammy --build-arg PLATFORM=ubuntu:22.04
+# extract jammy

tools/workspace/vtk/build_mac_binary

@@ -0,0 +1,85 @@
+#!/bin/bash
+
+# This shell script and some files in vtk/image (for docker) are used by
+# the project maintainers to create the precompiled vtk binaries that are
+# downloaded during the build. They are neither called during the build nor
+# expected to be called by most developers or users of the project.
+
+set -euxo pipefail
+
+if ! command -v xcrun >/dev/null 2>&1; then
+    echo '`xcrun` command not found, is Xcode installed?' >&2
+    exit 1
+fi
+
+macosx_sysroot="$(xcrun -sdk macosx -show-sdk-path)"
+# TODO(svenevs): this should fail if it points to "command line tools"
+# Must point to Contents/Developer under an Xcode.app like folder.
+
+this_file_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null 2>&1 && pwd)"
+vtk_args_path="${this_file_dir}/image/vtk-args"
+
+if ! [[ -f "${vtk_args_path}" ]]; then
+    echo "Could not find 'vtk-args' file ${vtk_args_path}." >&2
+    exit 1
+fi
+
+# See also: image/build-vtk.sh.  Extract all CMake / VTK configure arguments
+# from image/vtk-args, accumulating with `-D` in front for use on the command
+# line removing any comment lines that start with '#'.
+index=0
+vtk_cmake_args=()
+while IFS='' read -r line || [[ -n "${line}" ]]; do
+    arg="$(sed -e '/^#/d' -e 's/^/-D/' <<< "${line}")"
+    # If the line was commented out, arg will be the empty string.
+    if ! [[ -z "${arg}" ]]; then
+        vtk_cmake_args[index++]="${arg}"
+    fi
+done < "${vtk_args_path}"
+vtk_cmake_args+=("-DVTK_USE_COCOA:BOOL=ON")
+
+# TODO(svenevs): unify this with image/build-vtk.sh.
+readonly VTK_VERSION="d706250a1422ae1e7ece0fa09a510186769a5fec"
+
+# Directory to contain our source and build trees.
+container="${this_file_dir}/mac_binary_build"
+build_dir="${container}/build"
+install_dir="${container}/install"
+rm -rf "${container}"
+mkdir -p "${container}"
+cd "${container}"
+
+git clone https://gitlab.kitware.com/vtk/vtk.git src
+src_dir="${container}/src"
+git -C "${src_dir}" checkout "${VTK_VERSION}"
+
+# TODO(svenevs): macOS install rpath concerns.
+# -DCMAKE_INSTALL_NAME_DIR:STRING=/opt/homebrew/Cellar/vtk@9.1.0/9.1.0_4/lib
+# -DCMAKE_INSTALL_RPATH:STRING=/opt/homebrew/Cellar/vtk@9.1.0/9.1.0_4/lib
+cmake \
+    -G Ninja \
+    -Wno-dev \
+    -DCMAKE_INSTALL_PREFIX="${install_dir}" \
+    -DCMAKE_BUILD_TYPE:STRING=Release \
+    -DCMAKE_CXX_STANDARD:STRING=20 \
+    "-DCMAKE_OSX_ARCHITECTURES:STRING='$(arch)'" \
+    -DCMAKE_INSTALL_LIBDIR=lib \
+    -DCMAKE_FIND_FRAMEWORK=LAST \
+    -DCMAKE_OSX_SYSROOT="${macosx_sysroot}" \
+    -DCMAKE_C_COMPILER="$(xcrun -sdk macosx -find gcc)" \
+    -DCMAKE_CXX_COMPILER="$(xcrun -sdk macosx -find g++)" \
+    "${vtk_cmake_args[@]}" \
+    -B "${build_dir}" \
+    -S "${src_dir}"
+
+cd "${build_dir}"
+ninja install/strip
+
+readonly archive=drake-vtk-mac.tar.gz
+cd "${install_dir}"
+
+tar czf "${archive}" -- *
+shasum --algorithm 256 "${archive}" | tee "${archive}.sha256"
+
+mv "${archive}" "${this_file_dir}"
+mv "${archive}.sha256" "${this_file_dir}"

tools/workspace/vtk/find_vtk_headers.py

@@ -62,6 +62,7 @@
     "vtkRenderingCore",
     "vtkRenderingContext2D",
     "vtkRenderingFreeType",
+    "vtkRenderingHyperTreeGrid",
     "vtkRenderingOpenGL2",
     "vtkRenderingSceneGraph",
     "vtkRenderingUI",
@@ -103,6 +104,7 @@
     "vtkRenderingCore": Path("Rendering") / "Core",
     "vtkRenderingContext2D": Path("Rendering") / "Context2D",
     "vtkRenderingFreeType": Path("Rendering") / "FreeType",
+    "vtkRenderingHyperTreeGrid": Path("Rendering") / "HyperTreeGrid",
     "vtkRenderingOpenGL2": Path("Rendering") / "OpenGL2",
     "vtkRenderingSceneGraph": Path("Rendering") / "SceneGraph",
     "vtkRenderingUI": Path("Rendering") / "UI",
@@ -145,6 +147,8 @@ def main():
         required=True,
     )
     parser.add_argument("--debug", action="store_true")
+    # TODO(svenevs): add ability to dump all headers for all modules to find a
+    # header when the module name is not known.
     parser.add_argument(
         "module", type=str, help="VTK module to parse.", choices=VTK_MODULES
     )

tools/workspace/vtk/image/build-vtk.sh

@@ -2,20 +2,39 @@
 
 set -eu -o pipefail
 
-readonly VTK_VERSION=9.1.0
+# Can be a branch, tag, or commit (e.g., 'v9.1.0').
+readonly VTK_VERSION="d706250a1422ae1e7ece0fa09a510186769a5fec"
 
 mkdir -p /vtk
 cd /vtk
 
-git clone \
-    --branch v${VTK_VERSION} --depth 1 \
-    https://gitlab.kitware.com/vtk/vtk.git src
+git clone https://gitlab.kitware.com/vtk/vtk.git src
+git -C src checkout "${VTK_VERSION}"
 
 mkdir -p /vtk/build
 cd /vtk/build
 
 mapfile -t VTK_CMAKE_ARGS < <(sed -e '/^#/d' -e 's/^/-D/' < /vtk/vtk-args)
 
-cmake "${VTK_CMAKE_ARGS[@]}" -GNinja -Wno-dev /vtk/src
+codename="$(lsb_release -cs)"
+if [[ "${codename}" == "focal" ]]; then
+    cxx_std="17"
+else  # "${code_name}" := "jammy"
+    cxx_std="20"
+fi
+
+cmake \
+    -G Ninja \
+    -Wno-dev \
+    -DCMAKE_INSTALL_PREFIX:PATH=/opt/vtk \
+    -DCMAKE_BUILD_TYPE:STRING=Release \
+    "-DCMAKE_CXX_STANDARD:STRING=${cxx_std}" \
+    -DCMAKE_C_FLAGS:STRING='-D_FORTIFY_SOURCE=2 -fstack-protector-strong -Wno-deprecated-declarations' \
+    -DCMAKE_CXX_FLAGS:STRING='-D_FORTIFY_SOURCE=2 -fstack-protector-strong -Wno-deprecated-declarations' \
+    -DCMAKE_EXE_LINKER_FLAGS:STRING='-Wl,-Bsymbolic-functions -Wl,-z,now -Wl,-z,relro' \
+    -DCMAKE_MODULE_LINKER_FLAGS:STRING='-Wl,-Bsymbolic-functions -Wl,-z,now -Wl,-z,relro' \
+    -DCMAKE_SHARED_LINKER_FLAGS:STRING='-Wl,-Bsymbolic-functions -Wl,-z,now -Wl,-z,relro' \
+    "${VTK_CMAKE_ARGS[@]}" \
+    /vtk/src
 
 ninja install/strip

tools/workspace/vtk/image/package.sh

@@ -3,10 +3,10 @@
 set -eu -o pipefail
 
 # Get various version numbers.
-readonly vtk_tag=vtk-9.1.0
+readonly vtk_tag=vtk-9.2.0
 # To re-package, increase build_number by 1 and update repository.bzl to avoid
 # overwriting artifacts thus breaking historical builds.
-readonly build_number=3
+readonly build_number=1
 readonly platform=$(lsb_release --codename --short)-$(uname --processor)
 
 # Create archive named:
@@ -17,5 +17,5 @@ readonly platform=$(lsb_release --codename --short)-$(uname --processor)
 readonly archive=${vtk_tag}-${build_number}-${platform}.tar.gz
 cd /opt/vtk
 
-tar czf $archive -- *
-shasum --algorithm 256 $archive | tee $archive.sha256
+tar czf "${archive}" -- *
+shasum --algorithm 256 "${archive}" | tee "${archive}.sha256"

tools/workspace/vtk/image/prereqs

@@ -29,5 +29,6 @@ libxt-dev
 lsb-release
 ninja-build
 python-is-python3
+sqlite3
 wget
 zlib1g-dev