Update all examples that use TimeSeriesScalar to use Scalar inste…

…ad (#5042)

### What

Also fixes missing serialization of `StrokeWidth` & `MarkerSize`


![image](https://github.com/rerun-io/rerun/assets/1220815/44a118d4-5dc7-4c6d-a79b-29f83ac7eb77)


blocked by a few things:
* [x] text labels should go on SeriesLine/SeriesPlot  #5043
* [x] SeriesPoint doesn't have a `MarkerSize` component yet #5057
* [x] Need to fix heuristic for only having Scalar -> Line #5050

---------

Co-authored-by: Clement Rey <[email protected]>

docs/code-examples/all/scalar_multiple_plots.cpp

@@ -12,27 +12,29 @@ int main() {
 
     int64_t lcg_state = 0;
 
+    // Set up plot styling:
+    // They are logged timeless as they don't change over time and apply to all timelines.
+    // Log two lines series under a shared root so that they show in the same plot by default.
+    rec.log_timeless(
+        "trig/sin",
+        rerun::SeriesLine().with_color({255, 0, 0}).with_name("sin(0.01t)")
+    );
+    rec.log_timeless(
+        "trig/cos",
+        rerun::SeriesLine().with_color({0, 255, 0}).with_name("cos(0.01t)")
+    );
+    // Log scattered points under a different root so that they show in a different plot by default.
+    rec.log_timeless("scatter/lcg", rerun::SeriesPoint());
+
+    // Log the data on a timeline called "step".
     for (int t = 0; t < static_cast<int>(TAU * 2.0 * 100.0); ++t) {
         rec.set_time_sequence("step", t);
 
-        // Log two time series under a shared root so that they show in the same plot by default.
-        rec.log(
-            "trig/sin",
-            rerun::TimeSeriesScalar(sin(t / 100.0)).with_label("sin(0.01t)").with_color({255, 0, 0})
-        );
-        rec.log(
-            "trig/cos",
-            rerun::TimeSeriesScalar(cos(static_cast<float>(t) / 100.0f))
-                .with_label("cos(0.01t)")
-                .with_color({0, 255, 0})
-        );
-
-        // Log scattered points under a different root so that it shows in a different plot by default.
+        rec.log("trig/sin", rerun::Scalar(sin(t / 100.0)));
+        rec.log("trig/cos", rerun::Scalar(cos(static_cast<float>(t) / 100.0f)));
+
         lcg_state =
             1140671485 * lcg_state + 128201163 % 16777216; // simple linear congruency generator
-        rec.log(
-            "scatter/lcg",
-            rerun::TimeSeriesScalar(static_cast<float>(lcg_state)).with_scattered(true)
-        );
+        rec.log("scatter/lcg", rerun::Scalar(static_cast<float>(lcg_state)));
     }
 }

docs/code-examples/all/scalar_multiple_plots.py

@@ -8,13 +8,20 @@
 rr.init("rerun_example_scalar_multiple_plots", spawn=True)
 lcg_state = np.int64(0)
 
+# Set up plot styling:
+# They are logged timeless as they don't change over time and apply to all timelines.
+# Log two lines series under a shared root so that they show in the same plot by default.
+rr.log("trig/sin", rr.SeriesLine(color=[255, 0, 0], name="sin(0.01t)"), timeless=True)
+rr.log("trig/cos", rr.SeriesLine(color=[0, 255, 0], name="cos(0.01t)"), timeless=True)
+# Log scattered points under a different root so that they show in a different plot by default.
+rr.log("scatter/lcg", rr.SeriesPoint(), timeless=True)
+
+# Log the data on a timeline called "step".
 for t in range(0, int(tau * 2 * 100.0)):
     rr.set_time_sequence("step", t)
 
-    # Log two time series under a shared root so that they show in the same plot by default.
-    rr.log("trig/sin", rr.TimeSeriesScalar(sin(float(t) / 100.0), label="sin(0.01t)", color=[255, 0, 0]))
-    rr.log("trig/cos", rr.TimeSeriesScalar(cos(float(t) / 100.0), label="cos(0.01t)", color=[0, 255, 0]))
+    rr.log("trig/sin", rr.Scalar(sin(float(t) / 100.0)))
+    rr.log("trig/cos", rr.Scalar(cos(float(t) / 100.0)))
 
-    # Log scattered points under a different root so that they shows in a different plot by default.
     lcg_state = (1140671485 * lcg_state + 128201163) % 16777216  # simple linear congruency generator
-    rr.log("scatter/lcg", rr.TimeSeriesScalar(lcg_state, scattered=True))
+    rr.log("scatter/lcg", rr.Scalar(lcg_state))

docs/code-examples/all/scalar_multiple_plots.rs

@@ -4,32 +4,37 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
     let rec = rerun::RecordingStreamBuilder::new("rerun_example_scalar_multiple_plots").spawn()?;
     let mut lcg_state = 0_i64;
 
+    // Set up plot styling:
+    // They are logged timeless as they don't change over time and apply to all timelines.
+    // Log two lines series under a shared root so that they show in the same plot by default.
+    rec.log_timeless(
+        "trig/sin",
+        &rerun::SeriesLine::new()
+            .with_color([255, 0, 0])
+            .with_name("sin(0.01t)"),
+    )?;
+    rec.log_timeless(
+        "trig/cos",
+        &rerun::SeriesLine::new()
+            .with_color([0, 255, 0])
+            .with_name("cos(0.01t)"),
+    )?;
+    // Log scattered points under a different root so that they show in a different plot by default.
+    rec.log_timeless("scatter/lcg", &rerun::SeriesPoint::new())?;
+
     for t in 0..((std::f32::consts::TAU * 2.0 * 100.0) as i64) {
         rec.set_time_sequence("step", t);
 
         // Log two time series under a shared root so that they show in the same plot by default.
-        rec.log(
-            "trig/sin",
-            &rerun::TimeSeriesScalar::new((t as f64 / 100.0).sin())
-                .with_label("sin(0.01t)")
-                .with_color([255, 0, 0]),
-        )?;
-        rec.log(
-            "trig/cos",
-            &rerun::TimeSeriesScalar::new((t as f64 / 100.0).cos())
-                .with_label("cos(0.01t)")
-                .with_color([0, 255, 0]),
-        )?;
+        rec.log("trig/sin", &rerun::Scalar::new((t as f64 / 100.0).sin()))?;
+        rec.log("trig/cos", &rerun::Scalar::new((t as f64 / 100.0).cos()))?;
 
         // Log scattered points under a different root so that it shows in a different plot by default.
         lcg_state = (1140671485_i64
             .wrapping_mul(lcg_state)
             .wrapping_add(128201163))
             % 16777216; // simple linear congruency generator
-        rec.log(
-            "scatter/lcg",
-            &rerun::TimeSeriesScalar::new(lcg_state as f64).with_scattered(true),
-        )?;
+        rec.log("scatter/lcg", &rerun::Scalar::new(lcg_state as f64))?;
     }
 
     Ok(())

docs/code-examples/all/scalar_simple.cpp

@@ -8,8 +8,9 @@ int main() {
     const auto rec = rerun::RecordingStream("rerun_example_scalar");
     rec.spawn().exit_on_failure();
 
+    // Log the data on a timeline called "step".
     for (int step = 0; step < 64; ++step) {
         rec.set_time_sequence("step", step);
-        rec.log("scalar", rerun::TimeSeriesScalar(std::sin(static_cast<double>(step) / 10.0)));
+        rec.log("scalar", rerun::Scalar(std::sin(static_cast<double>(step) / 10.0)));
     }
 }

docs/code-examples/all/scalar_simple.py

@@ -5,6 +5,7 @@
 
 rr.init("rerun_example_scalar", spawn=True)
 
+# Log the data on a timeline called "step".
 for step in range(0, 64):
     rr.set_time_sequence("step", step)
-    rr.log("scalar", rr.TimeSeriesScalar(math.sin(step / 10.0)))
+    rr.log("scalar", rr.Scalar(math.sin(step / 10.0)))

docs/code-examples/all/scalar_simple.rs

@@ -3,12 +3,10 @@
 fn main() -> Result<(), Box<dyn std::error::Error>> {
     let rec = rerun::RecordingStreamBuilder::new("rerun_example_scalar").spawn()?;
 
+    // Log the data on a timeline called "step".
     for step in 0..64 {
         rec.set_time_sequence("step", step);
-        rec.log(
-            "scalar",
-            &rerun::TimeSeriesScalar::new((step as f64 / 10.0).sin()),
-        )?;
+        rec.log("scalar", &rerun::Scalar::new((step as f64 / 10.0).sin()))?;
     }
 
     Ok(())

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

@@ -202,8 +202,8 @@ Note that because we previously called `set_time_nanos` in this callback, this t
 be logged to the same point on the timeline as the data, using a timestamp looked up from TF at the
 matching timepoint.
 
-### Odometry to rr.TimeSeriesScalar and rr.Transform3D
-When receiving odometry messages, we log the linear and angular velocities using `rr.TimeSeriesScalar`.
+### Odometry to rr.Scalar and rr.Transform3D
+When receiving odometry messages, we log the linear and angular velocities using `rr.Scalar`.
 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
@@ -213,8 +213,8 @@ def odom_callback(self, odom: Odometry) -> None:
     rr.set_time_nanos("ros_time", time.nanoseconds)
 
     # Capture time-series data for the linear and angular velocities
-    rr.log("odometry/vel", rr.TimeSeriesScalar(odom.twist.twist.linear.x))
-    rr.log("odometry/ang_vel", rr.TimeSeriesScalar(odom.twist.twist.angular.z))
+    rr.log("odometry/vel", rr.Scalar(odom.twist.twist.linear.x))
+    rr.log("odometry/ang_vel", rr.Scalar(odom.twist.twist.angular.z))
 
     # Update the robot pose itself via TF
     self.log_tf_as_transform3d("map/robot", time)

examples/python/face_tracking/main.py

@@ -278,7 +278,7 @@ def is_empty(i):  # type: ignore[no-untyped-def]
 
             for blendshape in blendshapes:
                 if blendshape.category_name in BLENDSHAPES_CATEGORIES:
-                    rr.log(f"blendshapes/{i}/{blendshape.category_name}", rr.TimeSeriesScalar(blendshape.score))
+                    rr.log(f"blendshapes/{i}/{blendshape.category_name}", rr.Scalar(blendshape.score))
 
 
 # ========================================================================================

examples/python/plots/main.py

@@ -29,17 +29,19 @@
 
 ### Time series
 All other plots are created using the
-[rr.TimeSeriesScalar archetype](https://www.rerun.io/docs/reference/types/archetypes/bar_chart)
-with different settings. Each plot is created by logging scalars at different time steps (i.e., the x-axis).
+[rr.Scalar archetype](https://www.rerun.io/docs/reference/types/archetypes/scalar?speculative-link)
+archetype.
+Each plot is created by logging scalars at different time steps (i.e., the x-axis).
+Additionally, the plots are styled using the
+[rr.SeriesLine](https://www.rerun.io/docs/reference/types/archetypes/series_line?speculative-link) and
+[rr.SeriesPoint](https://www.rerun.io/docs/reference/types/archetypes/series_point?speculative-link)
+archetypes respectively.
 
-For the [parabola](recording://curves/parabola) the radius and color is changed over time.
+For the [parabola](recording://curves/parabola) the radius and color is changed over time,
+the other plots use timeless for their styling properties where possible.
 
 [sin](recording://trig/sin) and [cos](recording://trig/cos) are logged with the same parent entity (i.e.,
 `trig/{cos,sin}`) which will put them in the same view by default.
-
-For the [classification samples](recording://classification/samples) `rr.TimeSeriesScalar(..., scatter=True)` is used to
-create separate points that do not connect over time. Note, that in the other plots the logged scalars are connected
-over time by lines.
 """.strip()
 
 
@@ -59,12 +61,15 @@ def log_bar_chart() -> None:
 
 
 def log_parabola() -> None:
+    # Name never changes, log it only once.
+    rr.log("curves/parabola", rr.SeriesLine(name="f(t) = (0.01t - 3)³ + 1"), timeless=True)
+
     # Log a parabola as a time series
     for t in range(0, 1000, 10):
         rr.set_time_sequence("frame_nr", t)
 
         f_of_t = (t * 0.01 - 5) ** 3 + 1
-        radius = clamp(abs(f_of_t) * 0.1, 0.5, 10.0)
+        width = clamp(abs(f_of_t) * 0.1, 0.5, 10.0)
         color = [255, 255, 0]
         if f_of_t < -10.0:
             color = [255, 0, 0]
@@ -73,35 +78,35 @@ def log_parabola() -> None:
 
         rr.log(
             "curves/parabola",
-            rr.TimeSeriesScalar(
-                f_of_t,
-                label="f(t) = (0.01t - 3)³ + 1",
-                radius=radius,
-                color=color,
-            ),
+            rr.Scalar(f_of_t),
+            rr.SeriesLine(width=width, color=color),
         )
 
 
 def log_trig() -> None:
-    # Log a time series
+    # Styling doesn't change over time, log it once with timeless=True.
+    rr.log("trig/sin", rr.SeriesLine(color=[255, 0, 0], name="sin(0.01t)"), timeless=True)
+    rr.log("trig/cos", rr.SeriesLine(color=[0, 255, 0], name="cos(0.01t)"), timeless=True)
+
     for t in range(0, int(tau * 2 * 1000.0)):
         rr.set_time_sequence("frame_nr", t)
 
         sin_of_t = sin(float(t) / 1000.0)
-        rr.log("trig/sin", rr.TimeSeriesScalar(sin_of_t, label="sin(0.01t)", color=[255, 0, 0]))
+        rr.log("trig/sin", rr.Scalar(sin_of_t))
 
         cos_of_t = cos(float(t) / 1000.0)
-        rr.log("trig/cos", rr.TimeSeriesScalar(cos_of_t, label="cos(0.01t)", color=[0, 255, 0]))
+        rr.log("trig/cos", rr.Scalar(cos_of_t))
 
 
 def log_classification() -> None:
-    # Log a time series
+    # Log components that don't change only once:
+    rr.log("classification/line", rr.SeriesLine(color=[255, 255, 0], width=3.0), timeless=True)
+
     for t in range(0, 1000, 2):
         rr.set_time_sequence("frame_nr", t)
 
         f_of_t = (2 * 0.01 * t) + 2
-        color = [255, 255, 0]
-        rr.log("classification/line", rr.TimeSeriesScalar(f_of_t, color=color, radius=3.0))
+        rr.log("classification/line", rr.Scalar(f_of_t))
 
         g_of_t = f_of_t + random.uniform(-5.0, 5.0)
         if g_of_t < f_of_t - 1.5:
@@ -110,8 +115,8 @@ def log_classification() -> None:
             color = [0, 255, 0]
         else:
             color = [255, 255, 255]
-        radius = abs(g_of_t - f_of_t)
-        rr.log("classification/samples", rr.TimeSeriesScalar(g_of_t, color=color, scattered=True, radius=radius))
+        marker_size = abs(g_of_t - f_of_t)
+        rr.log("classification/samples", rr.Scalar(g_of_t), rr.SeriesPoint(color=color, marker_size=marker_size))
 
 
 def main() -> None:

examples/python/ros_node/main.py

@@ -182,8 +182,8 @@ def odom_callback(self, odom: Odometry) -> None:
         rr.set_time_nanos("ros_time", time.nanoseconds)
 
         # Capture time-series data for the linear and angular velocities
-        rr.log("odometry/vel", rr.TimeSeriesScalar(odom.twist.twist.linear.x))
-        rr.log("odometry/ang_vel", rr.TimeSeriesScalar(odom.twist.twist.angular.z))
+        rr.log("odometry/vel", rr.Scalar(odom.twist.twist.linear.x))
+        rr.log("odometry/ang_vel", rr.Scalar(odom.twist.twist.angular.z))
 
         # Update the robot pose itself via TF
         self.log_tf_as_transform3d("map/robot", time)

examples/python/structure_from_motion/main.py

@@ -53,7 +53,7 @@
 [camera entity](recording://camera).
 
 ### Reprojection error
-For each image a [rr.TimeSeriesScalar archetype](https://www.rerun.io/docs/reference/types/archetypes/bar_chart)
+For each image a [rr.Scalar archetype](https://www.rerun.io/docs/reference/types/archetypes/scalar?speculative-link)
 containing the average reprojection error of the keypoints is logged to the
 [plot/avg_reproj_err entity](recording://plot/avg_reproj_err).
 
@@ -134,6 +134,7 @@ def read_and_log_sparse_reconstruction(dataset_path: Path, filter_output: bool,
 
     rr.log("description", rr.TextDocument(DESCRIPTION, media_type=rr.MediaType.MARKDOWN), timeless=True)
     rr.log("/", rr.ViewCoordinates.RIGHT_HAND_Y_DOWN, timeless=True)
+    rr.log("plot/avg_reproj_err", rr.SeriesLine(color=[240, 45, 58]), timeless=True)
 
     # Iterate through images (video frames) logging data related to each frame.
     for image in sorted(images.values(), key=lambda im: im.name):  # type: ignore[no-any-return]
@@ -171,7 +172,7 @@ def read_and_log_sparse_reconstruction(dataset_path: Path, filter_output: bool,
         point_colors = [point.rgb for point in visible_xyzs]
         point_errors = [point.error for point in visible_xyzs]
 
-        rr.log("plot/avg_reproj_err", rr.TimeSeriesScalar(np.mean(point_errors), color=[240, 45, 58]))
+        rr.log("plot/avg_reproj_err", rr.Scalar(np.mean(point_errors)))
 
         rr.log("points", rr.Points3D(points, colors=point_colors), rr.AnyValues(error=point_errors))