Fix log_obb usage (#1761)

* Make sure all log_obb uses uses half_size correctly

* Remove outdated link from README

* Fix docstring of save

* Force named arguments of log_scalar

* Add link to --memory-limit docs

* update ros example

README.md

@@ -60,9 +60,8 @@ _Expect breaking changes!_
 Some shortcomings:
 * Big points clouds (1M+) are slow ([#1136](https://github.com/rerun-io/rerun/issues/1136))
 * The data you want to visualize must fit in RAM.
-  - See <https://github.com/rerun-io/rerun/issues/1138> for how to bound memory use
+  - See <https://www.rerun.io/docs/howto/limit-ram> for how to bound memory use
   - We plan on having a disk-based data store some time in the future
-  - Additionally, Rerun is using more memory than it should at the moment ([#1242](https://github.com/rerun-io/rerun/pull/1242))
 * The Rust library takes a long time to compile
   - We have way too many big dependencies, and we are planning on improving the situation ([#1316](https://github.com/rerun-io/rerun/pull/1316))
 

examples/python/arkitscenes/main.py

@@ -63,41 +63,38 @@ def log_annotated_bboxes(
         uid = label_info["uid"]
         label = label_info["label"]
 
-        # TODO(pablovela5620): half this value once #1701 is resolved
-        scale = np.array(label_info["segments"]["obbAligned"]["axesLengths"]).reshape(-1, 3)[0]
-        transform = np.array(label_info["segments"]["obbAligned"]["centroid"]).reshape(-1, 3)[0]
+        half_size = 0.5 * np.array(label_info["segments"]["obbAligned"]["axesLengths"]).reshape(-1, 3)[0]
+        centroid = np.array(label_info["segments"]["obbAligned"]["centroid"]).reshape(-1, 3)[0]
         rotation = np.array(label_info["segments"]["obbAligned"]["normalizedAxes"]).reshape(3, 3)
 
         rot = R.from_matrix(rotation).inv()
 
         rr.log_obb(
             f"world/annotations/box-{uid}-{label}",
-            half_size=scale,
-            position=transform,
+            half_size=half_size,
+            position=centroid,
             rotation_q=rot.as_quat(),
             label=label,
             color=color_list[i],
             timeless=True,
         )
 
-        box3d = compute_box_3d(scale, transform, rotation)
+        box3d = compute_box_3d(half_size, centroid, rotation)
         bbox_list.append(box3d)
         bbox_labels.append(label)
     bboxes_3d = np.array(bbox_list)
     return bboxes_3d, bbox_labels, color_list
 
 
 def compute_box_3d(
-    scale: npt.NDArray[np.float64], transform: npt.NDArray[np.float64], rotation: npt.NDArray[np.float64]
+    half_size: npt.NDArray[np.float64], transform: npt.NDArray[np.float64], rotation: npt.NDArray[np.float64]
 ) -> npt.NDArray[np.float64]:
     """
     Given obb compute 3d keypoints of the box.
 
     TODO(pablovela5620): Once #1581 is resolved this can be removed
     """
-    scale = scale.tolist()
-    scales = [i / 2 for i in scale]
-    length, height, width = scales
+    length, height, width = half_size.tolist()
     center = np.reshape(transform, (-1, 3))
     center = center.reshape(3)
     x_corners = [length, length, -length, -length, length, length, -length, -length]

examples/python/clock/main.py

@@ -34,7 +34,7 @@ def rotate(angle: float, len: float) -> Tuple[float, float, float]:
 
     rr.log_obb(
         "world/frame",
-        half_size=[2 * LENGTH_S, 2 * LENGTH_S, 1.0],
+        half_size=[LENGTH_S, LENGTH_S, 1.0],
         position=[0.0, 0.0, 0.0],
         rotation_q=[0.0, 0.0, 0.0, 0.0],
         timeless=True,

examples/python/objectron/main.py

@@ -181,9 +181,9 @@ def log_annotated_bboxes(bboxes: Iterable[Object]) -> None:
         rot = R.from_matrix(np.asarray(bbox.rotation).reshape((3, 3)))
         rr.log_obb(
             f"world/annotations/box-{bbox.id}",
-            bbox.scale,
-            bbox.translation,
-            rot.as_quat(),
+            half_size=0.5 * np.array(bbox.scale),
+            position=bbox.translation,
+            rotation_q=rot.as_quat(),
             color=[160, 230, 130, 255],
             label=bbox.category,
             timeless=True,

examples/python/ros/main.py

@@ -83,7 +83,7 @@ def __init__(self) -> None:
         # # TODO(jleibs): Log the real map once [#1531](https://github.com/rerun-io/rerun/issues/1531) is merged
         rr.log_obb(
             "map/box",
-            half_size=[6, 6, 2],
+            half_size=[3, 3, 1],
             position=[0, 0, 1],
             color=[255, 255, 255, 255],
             timeless=True,

rerun_py/rerun_sdk/rerun/__init__.py

@@ -367,9 +367,7 @@ def disconnect() -> None:
 
 def save(path: str) -> None:
     """
-    Save previously logged data to a file.
-
-    This only works if you have not called `connect`.
+    Stream all log-data to a file.
 
     Parameters
     ----------

rerun_py/rerun_sdk/rerun/log/bounding_box.py

@@ -24,6 +24,7 @@
 @log_decorator
 def log_obb(
     entity_path: str,
+    *,
     half_size: Optional[npt.ArrayLike],
     position: Optional[npt.ArrayLike] = None,
     rotation_q: Optional[npt.ArrayLike] = None,
@@ -72,28 +73,28 @@ def log_obb(
     splats: Dict[str, Any] = {}
 
     if half_size is not None:
-        size = np.require(half_size, dtype="float32")
+        half_size = np.require(half_size, dtype="float32")
 
-        if size.shape[0] == 3:
-            instanced["rerun.box3d"] = Box3DArray.from_numpy(size.reshape(1, 3))
+        if half_size.shape[0] == 3:
+            instanced["rerun.box3d"] = Box3DArray.from_numpy(half_size.reshape(1, 3))
         else:
-            raise TypeError("Position should be 1x3")
+            raise TypeError("half_size should be 1x3")
 
     if position is not None:
         position = np.require(position, dtype="float32")
 
         if position.shape[0] == 3:
             instanced["rerun.vec3d"] = Vec3DArray.from_numpy(position.reshape(1, 3))
         else:
-            raise TypeError("Position should be 1x3")
+            raise TypeError("position should be 1x3")
 
     if rotation_q is not None:
         rotation = np.require(rotation_q, dtype="float32")
 
         if rotation.shape[0] == 4:
             instanced["rerun.quaternion"] = QuaternionArray.from_numpy(rotation.reshape(1, 4))
         else:
-            raise TypeError("Rotation should be 1x4")
+            raise TypeError("rotation should be 1x4")
 
     if color:
         colors = _normalize_colors([color])

rerun_py/rerun_sdk/rerun/log/scalar.py

@@ -21,6 +21,7 @@
 def log_scalar(
     entity_path: str,
     scalar: float,
+    *,
     label: Optional[str] = None,
     color: Optional[Sequence[int]] = None,
     radius: Optional[float] = None,