Port vtk7 qt5 by sankhesh · Pull Request #508 · RobotLocomotion/director

sankhesh · 2017-05-18T14:14:28Z

Support VTK 7 / 8 and Qt 5

…_VERSION This will allow all external projects to compile against the chosen Qt version

It was introduced in Qt 5.0

sankhesh · 2017-05-18T14:19:52Z

distro/superbuild/cmake/externals.cmake

+set(PythonQt_TAG)
+if(${DD_QT_VERSION} VERSION_GREATER "4")
+  set(PythonQt_REPO https://github.com/patmarion/PythonQt.git)
+  set(PythonQt_TAG fix-compile-error-on-qt5.8)


@patmarion Mind creating a PR on PythonQt for branch fix-compile-error-on-qt5.8 and mention this PR (#508)

@patmarion ping!

yes, eventually we will get this in. upstream PythonQt is actually a svn repo. The CommonToolkit group manages some unofficial patched branches on Github. I think this is already fixed upstream in svn but I'm not sure if CTK's branches are up to date or not. I will try to look into it. In the meantime, I have no problem referencing this branch.

Sigh... commontk/PythonQt#50 (apparently I can create a PR of Pat's branch).

@sankhesh, does patched-7 still work with Qt4?

i think patched-7 has removed qt4 support. the src dir generated_cpp_47 was removed in that branch.

Okay... but at least commontk/PythonQt#50 would let us use the same repository in either case, and just a different branch.

Thanks @patmarion @mwoehlke-kitware

I'm not sure why pythonqt decided to drop the generated sources for Qt4 because the CMake code still seems to support both Qt4 and Qt5. Compilation fails when it can't find the generated sources with Qt4.

It can definitively be re-added. It would be nice to work with Florian (from mevislab) and push the patches upstream. I do not have the bandwidth currently ...

sankhesh · 2017-05-18T14:22:10Z

distro/superbuild/cmake/externals.cmake

+set(ctkPythonConsole_TAG)
+if(${DD_QT_VERSION} VERSION_GREATER "4")
+  set(ctkPythonConsole_REPO https://github.com/mwoehlke-kitware/ctkPythonConsole)
+  set(ctkPythonConsole_TAG qt5)


@mwoehlke-kitware Mind creating a PR for branch qt5 on ctkPythonConsole and mention this PR (#508) ?

Indeed; I think we should be able to use a single repo/tag here?

On closer inspection, it seems this would need tweaking to work with either Qt4 or Qt5. I don't know that I'll be able to do that; @sankhesh, can you do it?

@mwoehlke-kitware I'll look into it.

sankhesh · 2017-05-18T14:23:25Z

@patmarion @mwoehlke-kitware Please review

patmarion · 2017-05-18T16:23:09Z

Thanks, I'll try to take a look today and review!

patmarion · 2017-05-18T16:24:45Z

By the way, can you tell me which versions of VTK and Qt (and OS) you're testing with?

sankhesh · 2017-05-18T17:26:47Z

Thank you @patmarion

I compiled and tested with Kitware/VTK@28deb56 (OpenGL2 backend)and Qt versions 4.8, 5.5.1, 5.7.1 and 5.8.0

Note My testing was limited to running ctest and loading a simple OBJ file.

patmarion · 2017-06-09T18:59:40Z

it looks like the tests requiring opengl are failing with the new vtk bottles due to the vtk rendering backend. did something change related to opengl between the new bottles and the previous bottles where tests were passing?

jamiesnape · 2017-06-09T19:00:54Z

We are using VTK 8.0.0 RC2 instead of master. I have no idea if that introduced changes.

sankhesh · 2017-06-09T19:03:27Z

@patmarion Nothing has changed in terms of OpenGL between master and VTK RC2. It seems like xvfb is not returning an OpenGL context newer than 2.1. The minimum that VTK requires is an OpenGL core 3.2

patmarion · 2017-06-09T19:37:52Z

Hmm, here are the failed tests today, they are segfaulting on exit:

http://128.30.27.135/viewTest.php?onlyfailed&buildid=614

Last week, these tests passed. They actually printed the same error messages, but did not segfault on exit:

http://128.30.27.135/viewTest.php?onlypassed&buildid=569

patmarion · 2017-06-09T19:39:09Z

Is drake's jenkins CI running tests with VTK using xvfb?

jamiesnape · 2017-06-09T19:40:44Z

Not at present. It did briefly for VTK 5 and VTK 7.1.1. We had to run sudo apt-get install libgl1-mesa-glx-lts-xenial on Trusty.

sankhesh · 2017-06-09T20:09:04Z

@patmarion @jamiesnape

There are two issues at play here:

Xvfb creates an OpenGL 2.1 context which is older than the minimum supported by VTK (3.2)
- Try compiling VTK against a newer mesa for Travis-CI and/or
- Using a different X server (vnc, perhaps)
Segfault at exit
- I'm bringing up the docker container locally to see if I can debug this.

jamiesnape · 2017-06-09T20:16:13Z

@sankhesh This issue? RobotLocomotion/drake#6259 (comment)

jamiesnape · 2017-06-09T20:17:35Z

Try compiling VTK against a newer mesa for Travis-CI

We did not have to recompile on Jenkins.

patmarion · 2017-06-09T20:18:06Z

Another option is to provide a VTK package with the previous rendering backend for use on CI servers and by users without modern hardware.

jamiesnape · 2017-06-09T20:19:08Z

Another option is to provide a VTK package with the previous rendering backend for use on CI servers and by users without modern hardware.

I would not support that.

sankhesh · 2017-06-09T20:24:09Z

Another option is to provide a VTK package with the previous rendering backend for use on CI servers and by users without modern hardware.

The OpenGL backend support in VTK is short-lived post v8.0. We'd have to eventually move away from it.

sankhesh · 2017-06-09T20:26:06Z

@sankhesh This issue? RobotLocomotion/drake#6259 (comment)

Thanks for pointing that out @jamiesnape. It looks like a valid issue.
@patmarion Do you know where it originates from?

patmarion · 2017-06-09T21:32:13Z

Another option is to provide a VTK package with the previous rendering backend for use on CI servers and by users without modern hardware.

I would not support that.

I understand Drake has a specific set of VTK versions and packages it uses, but that doesn't have to dictate the versions that are used by Director's Travis-CI.

jamiesnape · 2017-06-09T21:42:03Z

I will defer to @stonier to comment on that, but there is a maintenance cost to creating packages, which is why we are only supporting certain configurations. If we start having to support multiple backends for users without modern hardware, then the workload is doubled.

patmarion · 2017-06-09T21:48:29Z

Are you planning to use the packages produced by director travis-cs? I thought I saw some comments about making drake's director packages on jenkins?

jamiesnape · 2017-06-09T21:49:09Z

Yes, they will be made on Jenkins.

patmarion · 2017-06-09T21:50:24Z

Ok perfect. So after this PR is completed and merged, I will probably invest some time to make my own vtk packages to cover the new variety of support configurations so those can all get tested on director's travis-ci, but this shouldn't need to affect any drake usage.

jamiesnape · 2017-06-09T21:50:52Z

Sounds good.

patmarion · 2017-06-10T00:40:09Z

@sankhesh it looks like the mac build is timing out while compiling PyQt from source during the brew install stage.

1). Please consider making VTK packages that do not require PyQt to be compiled from source.
2). If you must do a long running brew command, you can use the brew_install.sh script which prints progress, this prevents TravisCI from timing out. The brew install script is here:

https://github.com/RobotLocomotion/director/blob/master/distro/travis/brew_install.sh

Just call that script brew_install.sh instead of brew install. If you use this script, you should edit line 11 to remove the --build-bottle flag, it looks like I added that a while back but should have removed it.

patmarion · 2017-06-12T08:22:15Z

I am closing this in favor of #518. In #518 I updated the vtk packages and travis-ci scripts to get the build passing. It also has everything from this branch except the work in progress to integrate the QVTKOpenGLWidget of VTK 8. I put the QVTKOpenGLWidget work on this branch: https://github.com/patmarion/director/tree/vtk8-new-qvtk-widget

CDash link: http://128.30.27.135/index.php?project=director

sankhesh · 2017-06-12T14:16:42Z

@patmarion Btw, were you able to reproduce the segfault at exit on a local build? I wasn't.

patmarion · 2017-06-12T14:47:50Z

@patmarion Btw, were you able to reproduce the segfault at exit on a local build? I wasn't.

No, but I am building with VTK 7.1 and OpenGL backend. I plan to add testing for OpenGL2 backend but it depends on fixing the Xvfb/glx issue we were seeing in #508.

patmarion and others added 22 commits April 7, 2017 17:08

port to vtk7 and qt5

720616a

more changes

a0bd22f

updates

02f7e49

update

7a15756

update

1da067a

update PythonQt

a227661

update

b7ac4d8

Pass the right Qt options to eigen

db8cec2

Fix finding VTK with the right components

97320d2

Switched to using the QVTKOpenGLWidget

74b0eb2

Use QVTKWidget when director is compiled against Qt < v5.4

3cb1767

Allow director to compile against Qt4 or Qt5 via DD_QT_VERSION

28db75c

Change default Qt version to Qt5

11740ee

Provide option to choose between Qt4 and Qt5 for superbuild via DD_QT…

d89d366

…_VERSION This will allow all external projects to compile against the chosen Qt version

Fix missing parentheses error

48fe2c3

Remove vtkGUISupportQtOpenGL dependency

ae28693

Use version of PythonQt that allows both Qt4 and Qt5

2a76d06

Updated to use different branches of PythonQt based on Qt version

3ef8d46

Conditionally wrap QVTKWidget or QVTKOpenGLWidget based on Qt version

231c0ae

Link to QtOpenGL module for Qt4

edaca9b

Add missing semicolon causing compile error with Qt4

2ec4cb9

QSurfaceFormat is not available in Qt4

0813f34

It was introduced in Qt 5.0

sankhesh commented May 18, 2017

View reviewed changes

sankhesh mentioned this pull request May 18, 2017

Migrate Director to VTK6/7->8 RobotLocomotion/drake#2628

Closed

Merge branch 'master' into port-vtk7-qt5

b7fbd8a

Update VTK version requirement

2502cb1

sankhesh force-pushed the port-vtk7-qt5 branch from b8baea4 to 2502cb1 Compare June 9, 2017 21:29

patmarion closed this Jun 12, 2017

patmarion mentioned this pull request Jun 12, 2017

Port vtk7 qt5 #518

Merged

jamiesnape mentioned this pull request Jun 16, 2017

Offer pre-built drake-visualizer in Drake's Bazel WORKSPACE RobotLocomotion/drake#5621

Closed

sankhesh mentioned this pull request Jun 16, 2017

Integrate QVTKOpenGLWidget from VTK 8 #523

Closed

ianchen-tw mentioned this pull request Jul 17, 2018

[docker build] Dependency of director's branch RobotLocomotion/LabelFusion#29

Open

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