Python: remove legacy APIs (#4037)

- Fixes #3916 

I've also added `AnnotationInfo` & `ClassDescription` at the root-level
init.

docs/content/howto/ros2-nav-turtlebot.md

@@ -194,7 +194,7 @@ def log_tf_as_transform3d(self, path: str, time: Time) -> None:
 
 As an example of logging points in the map frame, we simply call:
 ```python
-rr.log_points("map/points", positions=pts, colors=colors)
+rr.log("map/points", rr.Points3D(positions=pts, colors=colors))
 self.log_tf_as_transform3d("map/points", time)
 ```
 
@@ -203,7 +203,7 @@ be logged to the same point on the timeline as the data, using a timestamp looke
 matching timepoint.
 
 ### Odometry to rr.TimeSeriesScalar and rr.Transform3D
-When receiving odometry messages, we log the linear and angular velocities using `rr.log_scalar`.
+When receiving odometry messages, we log the linear and angular velocities using `rr.TimeSeriesScalar`.
 Additionally, since we know that odometry will also update the `map/robot` transform, we use
 this as a cue to look up the corresponding transform and log it.
 ```python
@@ -225,7 +225,7 @@ Not all Transforms are rigid as defined in TF. The other transform we want to lo
 is the pinhole projection that is stored in the `CameraInfo` msg.
 
 Fortunately, the `image_geometry` package has a `PinholeCameraModel` that exposes
-the intrinsic matrix in the same structure used by Rerun `rr.log_pinhole`:
+the intrinsic matrix in the same structure used by Rerun `rr.Pinhole`:
 ```python
 def __init__(self) -> None:
     # …
@@ -249,7 +249,7 @@ def cam_info_callback(self, info: CameraInfo) -> None:
 
 ### Image to rr.Image
 ROS Images can also be mapped to Rerun very easily, using the `cv_bridge` package.
-The output of `cv_bridge.imgmsg_to_cv2` can be fed directly into `rr.log_image`:
+The output of `cv_bridge.imgmsg_to_cv2` can be fed directly into `rr.Image`:
 ```python
 def __init__(self) -> None:
     # …
@@ -276,7 +276,7 @@ array of Nx3 floats.
 Color is extracted in a similar way, although the realsense gazebo driver does not provide the correct offsets for
 the r,g,b channels, requiring us to patch the field values.
 
-After extracting the positions and colors as numpy arrays, the entire cloud can be logged as a batch with `rr.log_points`
+After extracting the positions and colors as numpy arrays, the entire cloud can be logged as a batch with `rr.Points3D`
 ```python
 def points_callback(self, points: PointCloud2) -> None:
     """Log a `PointCloud2` with `log_points`."""
@@ -315,14 +315,14 @@ to do a bit of additional transformation logic (see: [#1534](https://github.com/
 First, we convert the scan into a point-cloud using the `laser_geometry` package.
 After converting to a point-cloud, we extract the pts just as above with `PointCloud2`.
 
-We could have logged the Points directly using `rr.log_points`, but for
+We could have logged the Points directly using `rr.Points3D`, but for
 the sake of this demo, we wanted to instead log a laser scan as a bunch of lines
 in a similar fashion to how it is depicted in gazebo.
 
 We generate a second matching set of points for each ray projected out 0.3m from
 the origin and then interlace the two sets of points using numpy hstack and reshape.
 This results in a set of alternating points defining rays from the origin to each
-laser scan result, which is the format expected by `rr.log_line_segments`:
+laser scan result, which is the format expected by `rr.LineStrips3D`:
 ```python
 def __init__(self) -> None:
     # …

rerun_py/docs/gen_common_index.py

@@ -253,37 +253,6 @@ class Section:
         show_tables=False,
         mod_path="rerun.experimental",
     ),
-    Section(
-        title="Deprecated Logging Methods",
-        func_list=[
-            "log_annotation_context",
-            "log_arrow",
-            "log_cleared",
-            "log_depth_image",
-            "log_disconnected_space",
-            "log_extension_components",
-            "log_image_file",
-            "log_image",
-            "log_line_segments",
-            "log_line_strip",
-            "log_mesh_file",
-            "log_mesh",
-            "log_meshes",
-            "log_obb",
-            "log_pinhole",
-            "log_point",
-            "log_points",
-            "log_rect",
-            "log_rects",
-            "log_scalar",
-            "log_segmentation_image",
-            "log_tensor",
-            "log_text_entry",
-            "log_transform3d",
-            "log_view_coordinates",
-        ],
-        show_tables=False,
-    ),
 ]
 
 

rerun_py/rerun_sdk/rerun/__init__.py

@@ -37,7 +37,6 @@
     "MediaType",
     "MemoryRecording",
     "Mesh3D",
-    "MeshFormat",
     "MeshProperties",
     "OutOfTreeTransform3D",
     "OutOfTreeTransform3DBatch",
@@ -46,8 +45,6 @@
     "Points3D",
     "Quaternion",
     "RecordingStream",
-    "RectFormat",
-    "Rigid3D",
     "RotationAxisAngle",
     "Scale3D",
     "SegmentationImage",
@@ -58,8 +55,6 @@
     "TextLogLevel",
     "TimeSeriesScalar",
     "Transform3D",
-    "Translation3D",
-    "TranslationAndMat3",
     "TranslationAndMat3x3",
     "TranslationRotationScale3D",
     "ViewCoordinates",
@@ -78,35 +73,7 @@
     "get_thread_local_data_recording",
     "is_enabled",
     "log",
-    "log_annotation_context",
-    "log_arrow",
-    "log_cleared",
     "log_components",
-    "log_depth_image",
-    "log_disconnected_space",
-    "log_extension_components",
-    "log_image",
-    "log_image_file",
-    "log_line_segments",
-    "log_line_strip",
-    "log_line_strips_2d",
-    "log_line_strips_3d",
-    "log_mesh",
-    "log_mesh_file",
-    "log_meshes",
-    "log_obb",
-    "log_obbs",
-    "log_pinhole",
-    "log_point",
-    "log_points",
-    "log_rect",
-    "log_rects",
-    "log_scalar",
-    "log_segmentation_image",
-    "log_tensor",
-    "log_text_entry",
-    "log_transform3d",
-    "log_view_coordinates",
     "memory_recording",
     "reset_time",
     "save",
@@ -162,6 +129,8 @@
     TextLogLevel,
 )
 from .datatypes import (
+    AnnotationInfo,
+    ClassDescription,
     Quaternion,
     RotationAxisAngle,
     Scale3D,
@@ -170,29 +139,6 @@
     TranslationRotationScale3D,
 )
 from .error_utils import set_strict_mode
-from .log_deprecated.annotation import AnnotationInfo, ClassDescription, log_annotation_context
-from .log_deprecated.arrow import log_arrow
-from .log_deprecated.bounding_box import log_obb, log_obbs
-from .log_deprecated.camera import log_pinhole
-from .log_deprecated.clear import log_cleared
-from .log_deprecated.extension_components import log_extension_components
-from .log_deprecated.file import MeshFormat, log_image_file, log_mesh_file
-from .log_deprecated.image import log_depth_image, log_image, log_segmentation_image
-from .log_deprecated.lines import log_line_segments, log_line_strip, log_line_strips_2d, log_line_strips_3d
-from .log_deprecated.mesh import log_mesh, log_meshes
-from .log_deprecated.points import log_point, log_points
-from .log_deprecated.rects import RectFormat, log_rect, log_rects
-from .log_deprecated.scalar import log_scalar
-from .log_deprecated.tensor import log_tensor
-from .log_deprecated.text import log_text_entry
-from .log_deprecated.transform import (
-    Rigid3D,
-    Translation3D,
-    TranslationAndMat3,
-    log_disconnected_space,
-    log_transform3d,
-    log_view_coordinates,
-)
 from .logging_handler import LoggingHandler
 from .recording import MemoryRecording
 from .recording_stream import (

rerun_py/rerun_sdk/rerun/experimental.py → rerun_py/rerun_sdk/rerun/experimental/__init__.py

@@ -6,7 +6,7 @@
 """
 from __future__ import annotations
 
-from rerun.log_deprecated.experimental.blueprint import add_space_view, new_blueprint, set_auto_space_views, set_panels
+from .blueprint import add_space_view, new_blueprint, set_auto_space_views, set_panels
 
 __all__ = [
     "add_space_view",