[vtk] Unify include spelling, add comments, fix deps

VTK splits its code into libraries, but doesn't use subdir include paths to reflect the which library has which header. This makes it difficult to properly update BUILD files as the include statements evolve. For clarity, we now mark all VTK includes with the library they come from. We can also add some missing deps now as a result.
RobotLocomotion · Aug 21, 2023 · 495a1bf · 495a1bf
1 parent 570897c
commit 495a1bf
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Showing 27 changed files with 183 additions and 115 deletions.
diff --git a/geometry/proximity/BUILD.bazel b/geometry/proximity/BUILD.bazel
@@ -819,7 +819,9 @@ drake_cc_library(
     ],
     deps = [
         "@fmt",
-        "@vtk//:vtkIOGeometry",
+        "@vtk//:vtkCommonCore",
+        "@vtk//:vtkCommonDataModel",
+        "@vtk//:vtkIOLegacy",
     ],
 )
 

diff --git a/geometry/proximity/vtk_to_volume_mesh.cc b/geometry/proximity/vtk_to_volume_mesh.cc
@@ -4,10 +4,12 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <vtkCellIterator.h>
-#include <vtkNew.h>
-#include <vtkUnstructuredGrid.h>
-#include <vtkUnstructuredGridReader.h>
+
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkCellIterator.h>            // vtkCommonDataModel
+#include <vtkNew.h>                     // vtkCommonCore
+#include <vtkUnstructuredGrid.h>        // vtkCommonDataModel
+#include <vtkUnstructuredGridReader.h>  // vtkIOLegacy
 
 #include "drake/common/eigen_types.h"
 

diff --git a/geometry/render_gl/BUILD.bazel b/geometry/render_gl/BUILD.bazel
@@ -192,7 +192,10 @@ drake_cc_library_ubuntu_only(
         ":internal_opengl_context",
     ],
     deps = [
+        "@vtk//:vtkCommonCore",
+        "@vtk//:vtkCommonDataModel",
         "@vtk//:vtkIOImage",
+        "@vtk//:vtkImagingCore",
     ],
 )
 
@@ -239,6 +242,8 @@ 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",
     ],
 )

diff --git a/geometry/render_gl/internal_texture_library.cc b/geometry/render_gl/internal_texture_library.cc
@@ -5,11 +5,13 @@
 #include <filesystem>
 
 #include <fmt/format.h>
-#include <vtkImageCast.h>
-#include <vtkImageData.h>
-#include <vtkImageExport.h>
-#include <vtkNew.h>
-#include <vtkPNGReader.h>
+
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkImageCast.h>    // vtkImagingCore
+#include <vtkImageData.h>    // vtkCommonDataModel
+#include <vtkImageExport.h>  // vtkIOImage
+#include <vtkNew.h>          // vtkCommonCore
+#include <vtkPNGReader.h>    // vtkIOImage
 
 #include "drake/common/drake_assert.h"
 #include "drake/common/text_logging.h"

diff --git a/geometry/render_gl/test/internal_render_engine_gl_test.cc b/geometry/render_gl/test/internal_render_engine_gl_test.cc
@@ -6,9 +6,11 @@
 #include <unordered_map>
 
 #include <gtest/gtest.h>
-#include <vtkImageData.h>
-#include <vtkNew.h>
-#include <vtkPNGReader.h>
+
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkImageData.h>  // vtkCommonDataModel
+#include <vtkNew.h>        // vtkCommonCore
+#include <vtkPNGReader.h>  // vtkIOImage
 
 #include "drake/common/find_resource.h"
 #include "drake/common/fmt_eigen.h"

diff --git a/geometry/render_gltf_client/BUILD.bazel b/geometry/render_gltf_client/BUILD.bazel
@@ -99,6 +99,8 @@ drake_cc_library(
         "//geometry/render:render_engine",
         "//systems/sensors:image",
         "@picosha2_internal//:picosha2",
+        "@vtk//:vtkCommonCore",
+        "@vtk//:vtkCommonDataModel",
         "@vtk//:vtkIOImage",
     ],
 )
@@ -121,7 +123,10 @@ drake_cc_library(
         "//geometry/render_vtk:internal_render_engine_vtk",
         "//systems/sensors:image",
         "@nlohmann_internal//:nlohmann",
+        "@vtk//:vtkCommonCore",
+        "@vtk//:vtkCommonMath",
         "@vtk//:vtkIOExport",
+        "@vtk//:vtkRenderingCore",
     ],
 )
 
@@ -240,6 +245,8 @@ drake_cc_googletest(
         "//common/test_utilities:expect_throws_message",
         "//systems/sensors/test_utilities:image_compare",
         "@nlohmann_internal//:nlohmann",
+        "@vtk//:vtkCommonMath",
+        "@vtk//:vtkRenderingCore",
     ],
 )
 
@@ -265,6 +272,8 @@ drake_cc_binary(
         "//systems/sensors:color_palette",
         "//systems/sensors:image",
         "@gflags",
+        "@vtk//:vtkCommonCore",
+        "@vtk//:vtkCommonMath",
         "@vtk//:vtkIOImage",
         "@vtk//:vtkIOImport",
         "@vtk//:vtkRenderingCore",

diff --git a/geometry/render_gltf_client/internal_render_client.cc b/geometry/render_gltf_client/internal_render_client.cc
@@ -10,11 +10,13 @@
 
 #include <fmt/format.h>
 #include <picosha2.h>
-#include <vtkImageData.h>
-#include <vtkImageExport.h>
-#include <vtkNew.h>
-#include <vtkPNGReader.h>
-#include <vtkTIFFReader.h>
+
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkImageData.h>    // vtkCommonDataModel
+#include <vtkImageExport.h>  // vtkIOImage
+#include <vtkNew.h>          // vtkCommonCore
+#include <vtkPNGReader.h>    // vtkIOImage
+#include <vtkTIFFReader.h>   // vtkIOImage
 
 #include "drake/common/temp_directory.h"
 #include "drake/common/text_logging.h"

diff --git a/geometry/render_gltf_client/internal_render_engine_gltf_client.cc b/geometry/render_gltf_client/internal_render_engine_gltf_client.cc
@@ -9,10 +9,11 @@
 #include <string_view>
 #include <utility>
 
-#include <vtkCamera.h>
-#include <vtkGLTFExporter.h>
-#include <vtkMatrix4x4.h>
-#include <vtkVersionMacros.h>
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkCamera.h>         // vtkRenderingCore
+#include <vtkGLTFExporter.h>   // vtkIOExport
+#include <vtkMatrix4x4.h>      // vtkCommonMath
+#include <vtkVersionMacros.h>  // vtkCommonCore
 
 #include "drake/common/never_destroyed.h"
 #include "drake/common/ssize.h"

diff --git a/geometry/render_gltf_client/test/internal_render_engine_gltf_client_test.cc b/geometry/render_gltf_client/test/internal_render_engine_gltf_client_test.cc
@@ -7,8 +7,10 @@
 
 #include <gtest/gtest.h>
 #include <nlohmann/json.hpp>
-#include <vtkCamera.h>
-#include <vtkMatrix4x4.h>
+
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkCamera.h>     // vtkRenderingCore
+#include <vtkMatrix4x4.h>  // vtkCommonMath
 
 #include "drake/common/find_resource.h"
 #include "drake/common/fmt_eigen.h"

diff --git a/geometry/render_gltf_client/test/server_vtk_backend.cc b/geometry/render_gltf_client/test/server_vtk_backend.cc
@@ -18,21 +18,23 @@ programs for the glTF Render Client-Server integration test. */
 #include <string>
 
 #include <gflags/gflags.h>
-#include <vtkActorCollection.h>
-#include <vtkAutoInit.h>
-#include <vtkCamera.h>
-#include <vtkGLTFImporter.h>
-#include <vtkImageExport.h>
-#include <vtkLight.h>
-#include <vtkMatrix4x4.h>
-#include <vtkOpenGLPolyDataMapper.h>
-#include <vtkOpenGLShaderProperty.h>
-#include <vtkPNGWriter.h>
-#include <vtkProperty.h>
-#include <vtkRenderWindow.h>
-#include <vtkRenderer.h>
-#include <vtkTIFFWriter.h>
-#include <vtkWindowToImageFilter.h>
+
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkActorCollection.h>       // vtkRenderingCore
+#include <vtkAutoInit.h>              // vtkCommonCore
+#include <vtkCamera.h>                // vtkRenderingCore
+#include <vtkGLTFImporter.h>          // vtkIOImport
+#include <vtkImageExport.h>           // vtkIOImage
+#include <vtkLight.h>                 // vtkRenderingCore
+#include <vtkMatrix4x4.h>             // vtkCommonMath
+#include <vtkOpenGLPolyDataMapper.h>  // vtkRenderingOpenGL2
+#include <vtkOpenGLShaderProperty.h>  // vtkRenderingOpenGL2
+#include <vtkPNGWriter.h>             // vtkIOImage
+#include <vtkProperty.h>              // vtkRenderingCore
+#include <vtkRenderWindow.h>          // vtkRenderingCore
+#include <vtkRenderer.h>              // vtkRenderingCore
+#include <vtkTIFFWriter.h>            // vtkIOImage
+#include <vtkWindowToImageFilter.h>   // vtkRenderingCore
 
 #include "drake/common/drake_assert.h"
 #include "drake/common/text_logging.h"

diff --git a/geometry/render_vtk/BUILD.bazel b/geometry/render_vtk/BUILD.bazel
@@ -62,9 +62,14 @@ 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",
     ],
@@ -83,6 +88,10 @@ drake_cc_library(
         "//geometry/render:render_material",
         "//geometry/render:render_mesh",
         "@vtk//:vtkCommonCore",
+        "@vtk//:vtkCommonDataModel",
+        "@vtk//:vtkCommonExecutionModel",
+        "@vtk//:vtkCommonTransforms",
+        "@vtk//:vtkFiltersGeneral",
         "@vtk//:vtkFiltersSources",
     ],
 )
@@ -145,13 +154,18 @@ drake_cc_googletest(
         "//geometry/test_utilities:dummy_render_engine",
         "//math:geometric_transform",
         "@vtk//:vtkIOImage",
+        "@vtk//:vtkRenderingCore",
+        "@vtk//:vtkRenderingOpenGL2",
     ],
 )
 
 drake_cc_googletest(
     name = "internal_vtk_util_test",
     deps = [
         ":internal_vtk_util",
+        "@vtk//:vtkCommonCore",
+        "@vtk//:vtkCommonDataModel",
+        "@vtk//:vtkFiltersSources",
     ],
 )
 

diff --git a/geometry/render_vtk/internal_render_engine_vtk.cc b/geometry/render_vtk/internal_render_engine_vtk.cc
@@ -6,21 +6,22 @@
 #include <stdexcept>
 #include <utility>
 
-#include <vtkActor.h>
-#include <vtkAssembly.h>
-#include <vtkCamera.h>
-#include <vtkCylinderSource.h>
-#include <vtkGLTFImporter.h>
-#include <vtkImageCast.h>
-#include <vtkOpenGLPolyDataMapper.h>
-#include <vtkOpenGLShaderProperty.h>
-#include <vtkOpenGLTexture.h>
-#include <vtkPNGReader.h>
-#include <vtkPlaneSource.h>
-#include <vtkProperty.h>
-#include <vtkTexturedSphereSource.h>
-#include <vtkTransform.h>
-#include <vtkTransformPolyDataFilter.h>
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkActor.h>                    // vtkRenderingCore
+#include <vtkAssembly.h>                 // vtkRenderingCore
+#include <vtkCamera.h>                   // vtkRenderingCore
+#include <vtkCylinderSource.h>           // vtkFiltersSources
+#include <vtkGLTFImporter.h>             // vtkIOImport
+#include <vtkImageCast.h>                // vtkImagingCore
+#include <vtkOpenGLPolyDataMapper.h>     // vtkRenderingOpenGL2
+#include <vtkOpenGLShaderProperty.h>     // vtkRenderingOpenGL2
+#include <vtkOpenGLTexture.h>            // vtkRenderingOpenGL2
+#include <vtkPNGReader.h>                // vtkIOImage
+#include <vtkPlaneSource.h>              // vtkFiltersSources
+#include <vtkProperty.h>                 // vtkRenderingCore
+#include <vtkTexturedSphereSource.h>     // vtkFiltersSources
+#include <vtkTransform.h>                // vtkCommonTransforms
+#include <vtkTransformPolyDataFilter.h>  // vtkFiltersGeneral
 
 #include "drake/common/diagnostic_policy.h"
 #include "drake/common/text_logging.h"

diff --git a/geometry/render_vtk/internal_render_engine_vtk.h b/geometry/render_vtk/internal_render_engine_vtk.h
@@ -6,18 +6,19 @@
 #include <unordered_map>
 #include <vector>
 
-#include <vtkAutoInit.h>
-#include <vtkCommand.h>
-#include <vtkImageExport.h>
-#include <vtkLight.h>
-#include <vtkNew.h>
-#include <vtkPolyDataAlgorithm.h>
-#include <vtkProp3D.h>
-#include <vtkRenderWindow.h>
-#include <vtkRenderer.h>
-#include <vtkShaderProgram.h>
-#include <vtkSmartPointer.h>
-#include <vtkWindowToImageFilter.h>
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkAutoInit.h>             // vtkCommonCore
+#include <vtkCommand.h>              // vtkCommonCore
+#include <vtkImageExport.h>          // vtkIOImage
+#include <vtkLight.h>                // vtkRenderingCore
+#include <vtkNew.h>                  // vtkCommonCore
+#include <vtkPolyDataAlgorithm.h>    // vtkCommonExecutionModel
+#include <vtkProp3D.h>               // vtkRenderingCore
+#include <vtkRenderWindow.h>         // vtkRenderingCore
+#include <vtkRenderer.h>             // vtkRenderingCore
+#include <vtkShaderProgram.h>        // vtkRenderingOpenGL2
+#include <vtkSmartPointer.h>         // vtkCommonCore
+#include <vtkWindowToImageFilter.h>  // vtkRenderingCore
 
 #include "drake/common/drake_copyable.h"
 #include "drake/common/drake_export.h"

diff --git a/geometry/render_vtk/internal_render_engine_vtk_base.cc b/geometry/render_vtk/internal_render_engine_vtk_base.cc
@@ -5,17 +5,19 @@
 #include <vector>
 
 #include <fmt/format.h>
-#include <vtkCapsuleSource.h>
-#include <vtkCellArray.h>
-#include <vtkFloatArray.h>
-#include <vtkInformation.h>
-#include <vtkInformationVector.h>
-#include <vtkObjectFactory.h>
-#include <vtkPointData.h>
-#include <vtkPoints.h>
-#include <vtkPolyData.h>
-#include <vtkPolyDataAlgorithm.h>
-#include <vtkStreamingDemandDrivenPipeline.h>
+
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkCapsuleSource.h>                  // vtkFiltersSources
+#include <vtkCellArray.h>                      // vtkCommonDataModel
+#include <vtkFloatArray.h>                     // vtkCommonCore
+#include <vtkInformation.h>                    // vtkCommonCore
+#include <vtkInformationVector.h>              // vtkCommonCore
+#include <vtkObjectFactory.h>                  // vtkCommonCore
+#include <vtkPointData.h>                      // vtkCommonDataModel
+#include <vtkPoints.h>                         // vtkCommonCore
+#include <vtkPolyData.h>                       // vtkCommonDataModel
+#include <vtkPolyDataAlgorithm.h>              // vtkCommonExecutionModel
+#include <vtkStreamingDemandDrivenPipeline.h>  // vtkCommonExecutionModel
 
 #include "drake/common/fmt_eigen.h"
 #include "drake/common/scope_exit.h"

diff --git a/geometry/render_vtk/internal_render_engine_vtk_base.h b/geometry/render_vtk/internal_render_engine_vtk_base.h
@@ -1,10 +1,11 @@
 #pragma once
 
-#include <vtkCylinderSource.h>
-#include <vtkSmartPointer.h>
-#include <vtkTexturedSphereSource.h>
-#include <vtkTransform.h>
-#include <vtkTransformPolyDataFilter.h>
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkCylinderSource.h>           // vtkFiltersSources
+#include <vtkSmartPointer.h>             // vtkCommonCore
+#include <vtkTexturedSphereSource.h>     // vtkFiltersSources
+#include <vtkTransform.h>                // vtkCommonTransforms
+#include <vtkTransformPolyDataFilter.h>  // vtkFiltersGeneral
 
 #include "drake/geometry/geometry_roles.h"
 #include "drake/geometry/render/render_mesh.h"

diff --git a/geometry/render_vtk/internal_vtk_util.cc b/geometry/render_vtk/internal_vtk_util.cc
@@ -1,10 +1,12 @@
 #include "drake/geometry/render_vtk/internal_vtk_util.h"
 
 #include <Eigen/Dense>
-#include <vtkNew.h>
-#include <vtkPlaneSource.h>
-#include <vtkSmartPointer.h>
-#include <vtkTransform.h>
+
+// To ease build system upkeep, we annotate VTK includes with their deps.
+#include <vtkNew.h>           // vtkCommonCore
+#include <vtkPlaneSource.h>   // vtkFiltersSources
+#include <vtkSmartPointer.h>  // vtkCommonCore
+#include <vtkTransform.h>     // vtkCommonTransforms
 
 #include "drake/math/rotation_matrix.h"