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Python SDK: document that we also accept colors in 0-1 floats #1740

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Apr 4, 2023
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21 changes: 9 additions & 12 deletions examples/python/arkitscenes/main.py
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
from scipy.spatial.transform import Rotation as R
from tqdm import tqdm

Color = Tuple[float, float, float, float]

# hack for now since dataset does not provide orientation information, only known after initial visual inspection
ORIENTATION = {
"48458663": "landscape",
Expand All @@ -34,9 +36,7 @@ def load_json(js_path: Path) -> Dict[str, Any]:
return json_data


def log_annotated_bboxes(
annotation: Dict[str, Any]
) -> Tuple[npt.NDArray[np.float64], List[str], List[Tuple[int, int, int, int]]]:
def log_annotated_bboxes(annotation: Dict[str, Any]) -> Tuple[npt.NDArray[np.float64], List[str], List[Color]]:
"""
Logs annotated oriented bounding boxes to Rerun.

Expand All @@ -56,8 +56,7 @@ def log_annotated_bboxes(
# TODO(pablovela5620): Once #1581 or #1728 is resolved this can be removed
color_positions = np.linspace(0, 1, num_objects)
colormap = plt.cm.get_cmap("viridis")
color_array_float = [colormap(pos) for pos in color_positions]
color_list = [(int(r * 255), int(g * 255), int(b * 255), int(a * 255)) for r, g, b, a in color_array_float]
colors = [colormap(pos) for pos in color_positions]

for i, label_info in enumerate(annotation["data"]):
uid = label_info["uid"]
Expand All @@ -76,15 +75,15 @@ def log_annotated_bboxes(
position=transform,
rotation_q=rot.as_quat(),
label=label,
color=color_list[i],
color=colors[i],
timeless=True,
)

box3d = compute_box_3d(scale, transform, rotation)
bbox_list.append(box3d)
bbox_labels.append(label)
bboxes_3d = np.array(bbox_list)
return bboxes_3d, bbox_labels, color_list
return bboxes_3d, bbox_labels, colors


def compute_box_3d(
Expand Down Expand Up @@ -112,9 +111,7 @@ def compute_box_3d(
return bbox3d_raw


def log_line_segments(
entity_path: str, bboxes_2d_filtered: npt.NDArray[np.float64], color: Tuple[int, int, int, int], label: str
) -> None:
def log_line_segments(entity_path: str, bboxes_2d_filtered: npt.NDArray[np.float64], color: Color, label: str) -> None:
"""
Generates line segments for each object's bounding box in 2d.

Expand Down Expand Up @@ -239,7 +236,7 @@ def log_camera(
entity_id: str,
bboxes: npt.NDArray[np.float64],
bbox_labels: List[str],
color_list: List[Tuple[int, int, int, int]],
colors: List[Color],
) -> None:
"""Logs camera transform and 3D bounding boxes in the image frame."""
w, h, fx, fy, cx, cy = np.loadtxt(intri_path)
Expand All @@ -253,7 +250,7 @@ def log_camera(
rr.log_cleared(f"{entity_id}/bbox-2d-segments", recursive=True)
# Log line segments for each bounding box in the image
for i, (label, bbox_2d) in enumerate(zip(bbox_labels, bboxes_2d)):
log_line_segments(f"{entity_id}/bbox-2d-segments/{label}", bbox_2d.reshape(-1, 2), color_list[i], label)
log_line_segments(f"{entity_id}/bbox-2d-segments/{label}", bbox_2d.reshape(-1, 2), colors[i], label)

rr.log_rigid3(
# pathlib makes it easy to get the parent, but log_rigid requires a string
Expand Down
13 changes: 10 additions & 3 deletions rerun_py/rerun_sdk/rerun/log/__init__.py
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
import numpy.typing as npt

from rerun import bindings
from rerun.color_conversion import linear_to_gamma_u8_pixel

__all__ = [
"annotation",
Expand Down Expand Up @@ -43,7 +42,14 @@ def _to_sequence(array: Optional[npt.ArrayLike]) -> Optional[Sequence[float]]:


def _normalize_colors(colors: Optional[Union[Color, Colors]] = None) -> npt.NDArray[np.uint8]:
"""Normalize flexible colors arrays."""
"""
Normalize flexible colors arrays.

Float colors are assumed to be in 0-1 gamma sRGB space.
All other colors are assumed to be in 0-255 gamma sRGB space.

If there is an alpha, we assume it is in linear space, and separate (NOT pre-multiplied).
"""
if colors is None:
# An empty array represents no colors.
return np.array((), dtype=np.uint8)
Expand All @@ -52,7 +58,8 @@ def _normalize_colors(colors: Optional[Union[Color, Colors]] = None) -> npt.NDAr

# Rust expects colors in 0-255 uint8
if colors_array.dtype.type in [np.float32, np.float64]:
return linear_to_gamma_u8_pixel(linear=colors_array)
# Assume gamma-space colors
return np.require(np.round(colors_array * 255.0), np.uint8)

return np.require(colors_array, np.uint8)

Expand Down
2 changes: 1 addition & 1 deletion rerun_py/rerun_sdk/rerun/log/annotation.py
Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,7 @@ def log_annotation_context(

Each ClassDescription must include an annotation info with an id, which will
be used for matching the class and may optionally include a label and color.
Colors should either be in 0-255 gamma space or in 0-1 linear space. Colors
Colors should either be in 0-255 gamma space or in 0-1 gamma space. Colors
can be RGB or RGBA.

These can either be specified verbosely as:
Expand Down
8 changes: 4 additions & 4 deletions rerun_py/rerun_sdk/rerun/log/arrow.py
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
from typing import Any, Dict, Optional, Sequence
from typing import Any, Dict, Optional

import numpy as np
import numpy.typing as npt
Expand All @@ -9,7 +9,7 @@
from rerun.components.instance import InstanceArray
from rerun.components.label import LabelArray
from rerun.components.radius import RadiusArray
from rerun.log import _normalize_colors, _normalize_radii
from rerun.log import Color, _normalize_colors, _normalize_radii
from rerun.log.extension_components import _add_extension_components
from rerun.log.log_decorator import log_decorator

Expand All @@ -24,7 +24,7 @@ def log_arrow(
origin: Optional[npt.ArrayLike],
vector: Optional[npt.ArrayLike] = None,
*,
color: Optional[Sequence[int]] = None,
color: Optional[Color] = None,
label: Optional[str] = None,
width_scale: Optional[float] = None,
ext: Optional[Dict[str, Any]] = None,
Expand All @@ -48,7 +48,7 @@ def log_arrow(
vector
The vector along which the arrow will be drawn.
color
An optional RGB or RGBA triplet in 0-255 sRGB.
Optional RGB or RGBA in sRGB gamma-space as either 0-1 floats or 0-255 integers, with separate alpha.
label
An optional text to show beside the arrow.
width_scale
Expand Down
8 changes: 4 additions & 4 deletions rerun_py/rerun_sdk/rerun/log/bounding_box.py
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
from typing import Any, Dict, Optional, Sequence
from typing import Any, Dict, Optional

import numpy as np
import numpy.typing as npt
Expand All @@ -12,7 +12,7 @@
from rerun.components.quaternion import QuaternionArray
from rerun.components.radius import RadiusArray
from rerun.components.vec import Vec3DArray
from rerun.log import _normalize_colors, _normalize_ids, _normalize_radii
from rerun.log import Color, _normalize_colors, _normalize_ids, _normalize_radii
from rerun.log.extension_components import _add_extension_components
from rerun.log.log_decorator import log_decorator

Expand All @@ -27,7 +27,7 @@ def log_obb(
half_size: Optional[npt.ArrayLike],
position: Optional[npt.ArrayLike] = None,
rotation_q: Optional[npt.ArrayLike] = None,
color: Optional[Sequence[int]] = None,
color: Optional[Color] = None,
stroke_width: Optional[float] = None,
label: Optional[str] = None,
class_id: Optional[int] = None,
Expand All @@ -54,7 +54,7 @@ def log_obb(
rotation_q:
Optional array with quaternion coordinates [x, y, z, w] for the rotation from model to world space.
color:
Optional RGB or RGBA triplet in 0-255 sRGB.
Optional RGB or RGBA in sRGB gamma-space as either 0-1 floats or 0-255 integers, with separate alpha.
stroke_width:
Optional width of the line edges.
label:
Expand Down
14 changes: 7 additions & 7 deletions rerun_py/rerun_sdk/rerun/log/lines.py
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
from typing import Any, Dict, Optional, Sequence
from typing import Any, Dict, Optional

import numpy as np
import numpy.typing as npt
Expand All @@ -9,7 +9,7 @@
from rerun.components.instance import InstanceArray
from rerun.components.linestrip import LineStrip2DArray, LineStrip3DArray
from rerun.components.radius import RadiusArray
from rerun.log import _normalize_colors, _normalize_radii
from rerun.log import Color, _normalize_colors, _normalize_radii
from rerun.log.extension_components import _add_extension_components
from rerun.log.log_decorator import log_decorator

Expand All @@ -26,7 +26,7 @@ def log_path(
positions: Optional[npt.ArrayLike],
*,
stroke_width: Optional[float] = None,
color: Optional[Sequence[int]] = None,
color: Optional[Color] = None,
ext: Optional[Dict[str, Any]] = None,
timeless: bool = False,
) -> None:
Expand All @@ -39,7 +39,7 @@ def log_line_strip(
positions: Optional[npt.ArrayLike],
*,
stroke_width: Optional[float] = None,
color: Optional[Sequence[int]] = None,
color: Optional[Color] = None,
ext: Optional[Dict[str, Any]] = None,
timeless: bool = False,
) -> None:
Expand All @@ -65,7 +65,7 @@ def log_line_strip(
stroke_width:
Optional width of the line.
color:
Optional RGB or RGBA triplet in 0-255 sRGB.
Optional RGB or RGBA in sRGB gamma-space as either 0-1 floats or 0-255 integers, with separate alpha.
ext:
Optional dictionary of extension components. See [rerun.log_extension_components][]
timeless:
Expand Down Expand Up @@ -114,7 +114,7 @@ def log_line_segments(
positions: npt.ArrayLike,
*,
stroke_width: Optional[float] = None,
color: Optional[Sequence[int]] = None,
color: Optional[Color] = None,
ext: Optional[Dict[str, Any]] = None,
timeless: bool = False,
) -> None:
Expand All @@ -139,7 +139,7 @@ def log_line_segments(
stroke_width:
Optional width of the line.
color:
Optional RGB or RGBA triplet in 0-255 sRGB.
Optional RGB or RGBA in sRGB gamma-space as either 0-1 floats or 0-255 integers, with separate alpha.
ext:
Optional dictionary of extension components. See [rerun.log_extension_components][]
timeless:
Expand Down
3 changes: 2 additions & 1 deletion rerun_py/rerun_sdk/rerun/log/mesh.py
Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,8 @@ def log_mesh(
albedo_factor:
Optional color multiplier of the mesh using RGB or unmuliplied RGBA in linear 0-1 space.
vertex_colors:
Optional array of RGB(a) vertex colors
Optional array of RGB(A) vertex colors, in sRGB gamma space, either as 0-1 floats or 0-255 integers.
If specified, the alpha is considered separate (unmultiplied).
timeless:
If true, the mesh will be timeless (default: False)

Expand Down
6 changes: 4 additions & 2 deletions rerun_py/rerun_sdk/rerun/log/points.py
Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ def log_point(
position: Optional[npt.ArrayLike] = None,
*,
radius: Optional[float] = None,
color: Optional[Sequence[int]] = None,
color: Optional[Color] = None,
label: Optional[str] = None,
class_id: Optional[int] = None,
keypoint_id: Optional[int] = None,
Expand Down Expand Up @@ -66,7 +66,7 @@ def log_point(
radius:
Optional radius (make it a sphere).
color:
Optional color of the point.
Optional RGB or RGBA in sRGB gamma-space as either 0-1 floats or 0-255 integers, with separate alpha.
label:
Optional text to show with the point.
class_id:
Expand Down Expand Up @@ -169,6 +169,8 @@ def log_points(
Unique numeric id that shows up when you hover or select the point.
colors:
Optional colors of the points.
The colors are interpreted as RGB or RGBA in sRGB gamma-space,
as either 0-1 floats or 0-255 integers, with separate alpha.
radii:
Optional radii (make it a sphere).
labels:
Expand Down
6 changes: 3 additions & 3 deletions rerun_py/rerun_sdk/rerun/log/rects.py
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ def log_rect(
rect: Optional[npt.ArrayLike],
*,
rect_format: RectFormat = RectFormat.XYWH,
color: Optional[Sequence[int]] = None,
color: Optional[Color] = None,
label: Optional[str] = None,
class_id: Optional[int] = None,
ext: Optional[Dict[str, Any]] = None,
Expand All @@ -52,7 +52,7 @@ def log_rect(
rect_format:
how to interpret the `rect` argument
color:
Optional RGB or RGBA triplet in 0-255 sRGB.
Optional RGB or RGBA in sRGB gamma-space as either 0-1 floats or 0-255 integers, with separate alpha.
label:
Optional text to show inside the rectangle.
class_id:
Expand Down Expand Up @@ -139,7 +139,7 @@ def log_rects(
identifiers:
Unique numeric id that shows up when you hover or select the point.
colors:
Optional per-rectangle RGB or RGBA triplet in 0-255 sRGB.
Optional per-rectangle gamma-space RGB or RGBA as 0-1 floats or 0-255 integers.
labels:
Optional per-rectangle text to show inside the rectangle.
class_ids:
Expand Down
10 changes: 5 additions & 5 deletions rerun_py/rerun_sdk/rerun/log/scalar.py
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
from typing import Any, Dict, Optional, Sequence
from typing import Any, Dict, Optional

import numpy as np

Expand All @@ -8,7 +8,7 @@
from rerun.components.label import LabelArray
from rerun.components.radius import RadiusArray
from rerun.components.scalar import ScalarArray, ScalarPlotPropsArray
from rerun.log import _normalize_colors
from rerun.log import Color, _normalize_colors
from rerun.log.extension_components import _add_extension_components
from rerun.log.log_decorator import log_decorator

Expand All @@ -22,7 +22,7 @@ def log_scalar(
entity_path: str,
scalar: float,
label: Optional[str] = None,
color: Optional[Sequence[int]] = None,
color: Optional[Color] = None,
radius: Optional[float] = None,
scattered: Optional[bool] = None,
ext: Optional[Dict[str, Any]] = None,
Expand Down Expand Up @@ -81,7 +81,7 @@ def log_scalar(
line will be named after the entity path. The plot itself is named after
the space it's in.
color:
An optional color in the form of a RGB or RGBA triplet in 0-255 sRGB.
Optional RGB or RGBA in sRGB gamma-space as either 0-1 floats or 0-255 integers, with separate alpha.

If left unspecified, a pseudo-random color will be used instead. That
same color will apply to all points residing in the same entity path
Expand Down Expand Up @@ -121,7 +121,7 @@ def log_scalar(
instanced["rerun.label"] = LabelArray.new([label])

if color:
colors = _normalize_colors(np.array([color]))
colors = _normalize_colors([color])
instanced["rerun.colorrgba"] = ColorRGBAArray.from_numpy(colors)

if radius:
Expand Down
8 changes: 4 additions & 4 deletions rerun_py/rerun_sdk/rerun/log/text.py
Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
import logging
from typing import Any, Dict, Final, Optional, Sequence
from typing import Any, Dict, Final, Optional

# Fully qualified to avoid circular import
import rerun.log.extension_components
from rerun import bindings
from rerun.components.color import ColorRGBAArray
from rerun.components.instance import InstanceArray
from rerun.components.text_entry import TextEntryArray
from rerun.log import _normalize_colors
from rerun.log import Color, _normalize_colors
from rerun.log.log_decorator import log_decorator
from rerun.log.text_internal import LogLevel

Expand Down Expand Up @@ -71,7 +71,7 @@ def log_text_entry(
text: str,
*,
level: Optional[str] = LogLevel.INFO,
color: Optional[Sequence[int]] = None,
color: Optional[Color] = None,
ext: Optional[Dict[str, Any]] = None,
timeless: bool = False,
) -> None:
Expand All @@ -89,7 +89,7 @@ def log_text_entry(
be an arbitrary string, but it's recommended to use one of the constants
from [LogLevel][rerun.log.text.LogLevel]
color:
Optional RGB or RGBA triplet in 0-255 sRGB.
Optional RGB or RGBA in sRGB gamma-space as either 0-1 floats or 0-255 integers, with separate alpha.
ext:
Optional dictionary of extension components. See [rerun.log_extension_components][]
timeless:
Expand Down
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