Nicer transform archetype interface in python (#3560)

### What

* Fixes #3528
* plus as discussed `TranslationRotationScale3D` and
`TranslationAndMat3x3` datatypes no longer implement the as_components
interface
* Need to patch up things in #3545

### Checklist
* [x] I have read and agree to [Contributor
Guide](https://github.com/rerun-io/rerun/blob/main/CONTRIBUTING.md) and
the [Code of
Conduct](https://github.com/rerun-io/rerun/blob/main/CODE_OF_CONDUCT.md)
* [x] I've included a screenshot or gif (if applicable)
* [x] I have tested [demo.rerun.io](https://demo.rerun.io/pr/3560) (if
applicable)

- [PR Build Summary](https://build.rerun.io/pr/3560)
- [Docs
preview](https://rerun.io/preview/e0b9e97ed111ec63df54519176dac499fe46163d/docs)
<!--DOCS-PREVIEW-->
- [Examples
preview](https://rerun.io/preview/e0b9e97ed111ec63df54519176dac499fe46163d/examples)
<!--EXAMPLES-PREVIEW-->
- [Recent benchmark results](https://ref.rerun.io/dev/bench/)
- [Wasm size tracking](https://ref.rerun.io/dev/sizes/)

crates/re_data_ui/src/transform3d.rs

@@ -154,7 +154,7 @@ impl DataUi for TranslationAndMat3x3 {
     ) {
         let TranslationAndMat3x3 {
             translation,
-            matrix,
+            mat3x3,
             from_parent: _,
         } = self;
 
@@ -167,7 +167,7 @@ impl DataUi for TranslationAndMat3x3 {
                     ui.end_row();
                 }
 
-                if let Some(matrix) = matrix {
+                if let Some(matrix) = mat3x3 {
                     ui.label("matrix");
                     matrix.data_ui(ctx, ui, verbosity, query);
                     ui.end_row();

crates/re_types/definitions/rerun/datatypes/translation_and_mat3x3.fbs

@@ -23,7 +23,7 @@ table TranslationAndMat3x3 (
   //
   // NOTE: Nullable rather than defaulting to an identity-like value because we want to be able
   // to differentiate between no value vs. default value in the backend.
-  matrix: Mat3x3 (nullable, order: 200);
+  mat3x3: Mat3x3 (nullable, order: 200);
 
   // TODO(#2641): make this field non-nullable when default values are supported
   /// If true, the transform maps from the parent space to the space where the transform was logged.

crates/re_types/src/datatypes/transform3d_ext.rs

@@ -67,10 +67,10 @@ impl From<Transform3D> for glam::Affine3A {
         match value {
             Transform3D::TranslationAndMat3x3(TranslationAndMat3x3 {
                 translation,
-                matrix,
+                mat3x3,
                 from_parent: _,
             }) => glam::Affine3A::from_mat3_translation(
-                matrix.unwrap_or(super::Mat3x3::IDENTITY).into(),
+                mat3x3.unwrap_or(super::Mat3x3::IDENTITY).into(),
                 translation.map_or(glam::Vec3::ZERO, |v| v.into()),
             ),
 

crates/re_types/src/datatypes/translation_and_mat3x3_ext.rs

@@ -11,16 +11,16 @@ impl Default for TranslationAndMat3x3 {
 impl TranslationAndMat3x3 {
     pub const IDENTITY: Self = Self {
         translation: None,
-        matrix: None,
+        mat3x3: None,
         from_parent: false,
     };
 
     /// Create a new `TranslationAndMat3`.
     #[inline]
-    pub fn new<T: Into<Vec3D>, M: Into<Mat3x3>>(translation: T, matrix: M) -> Self {
+    pub fn new<T: Into<Vec3D>, M: Into<Mat3x3>>(translation: T, mat3x3: M) -> Self {
         Self {
             translation: Some(translation.into()),
-            matrix: Some(matrix.into()),
+            mat3x3: Some(mat3x3.into()),
             from_parent: false,
         }
     }
@@ -29,16 +29,16 @@ impl TranslationAndMat3x3 {
     pub fn translation<T: Into<Vec3D>>(translation: T) -> Self {
         Self {
             translation: Some(translation.into()),
-            matrix: None,
+            mat3x3: None,
             from_parent: false,
         }
     }
 
     #[inline]
-    pub fn rotation<M: Into<Mat3x3>>(matrix: M) -> Self {
+    pub fn rotation<M: Into<Mat3x3>>(mat3x3: M) -> Self {
         Self {
             translation: None,
-            matrix: Some(matrix.into()),
+            mat3x3: Some(mat3x3.into()),
             from_parent: false,
         }
     }

crates/re_types/tests/transform3d.rs

@@ -63,7 +63,7 @@ fn roundtrip() {
             transform: components::Transform3D(datatypes::Transform3D::TranslationAndMat3x3(
                 TranslationAndMat3x3 {
                     translation: None,
-                    matrix: None,
+                    mat3x3: None,
                     from_parent: false,
                 },
             )),
@@ -72,7 +72,7 @@ fn roundtrip() {
             transform: components::Transform3D(datatypes::Transform3D::TranslationAndMat3x3(
                 TranslationAndMat3x3 {
                     translation: Some(Vec3D([1.0, 2.0, 3.0])),
-                    matrix: None,
+                    mat3x3: None,
                     from_parent: true,
                 },
             )),
@@ -81,7 +81,7 @@ fn roundtrip() {
             transform: components::Transform3D(datatypes::Transform3D::TranslationAndMat3x3(
                 TranslationAndMat3x3 {
                     translation: None,
-                    matrix: Some(Mat3x3([1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0])),
+                    mat3x3: Some(Mat3x3([1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0])),
                     from_parent: true,
                 },
             )),

docs/code-examples/transform3d_simple.py

@@ -8,12 +8,12 @@
 
 rr.log("base", rr.Arrows3D(origins=[0, 0, 0], vectors=[0, 1, 0]))
 
-rr.log("base/translated", rr.TranslationAndMat3x3(translation=[1, 0, 0]))
+rr.log("base/translated", rr.Transform3D(translation=[1, 0, 0]))
 rr.log("base/translated", rr.Arrows3D(origins=[0, 0, 0], vectors=[0, 1, 0]))
 
 rr.log(
     "base/rotated_scaled",
-    rr.TranslationRotationScale3D(
+    rr.Transform3D(
         rotation=RotationAxisAngle(axis=[0, 0, 1], angle=Angle(rad=pi / 4)),
         scale=2,
     ),

docs/code-examples/transform3d_simple.rs

@@ -2,9 +2,7 @@
 
 use rerun::{
     archetypes::{Arrows3D, Transform3D},
-    datatypes::{
-        Angle, RotationAxisAngle, Scale3D, TranslationAndMat3x3, TranslationRotationScale3D,
-    },
+    datatypes::{Angle, RotationAxisAngle, Scale3D, TranslationRotationScale3D},
     RecordingStreamBuilder,
 };
 use std::f32::consts::PI;
@@ -19,7 +17,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
 
     rec.log(
         "base/translated",
-        &Transform3D::new(TranslationAndMat3x3::translation([1.0, 0.0, 0.0])),
+        &Transform3D::new(TranslationRotationScale3D::translation([1.0, 0.0, 0.0])),
     )?;
 
     rec.log(

examples/python/live_depth_sensor/main.py

@@ -40,7 +40,7 @@ def run_realsense(num_frames: int | None) -> None:
     rr.log_transform3d(
         "realsense/rgb",
         transform=rr.TranslationAndMat3(
-            translation=rgb_from_depth.translation, matrix=np.reshape(rgb_from_depth.rotation, (3, 3))
+            translation=rgb_from_depth.translation, mat3x3=np.reshape(rgb_from_depth.rotation, (3, 3))
         ),
         from_parent=True,
         timeless=True,

examples/python/open_photogrammetry_format/main.py

@@ -161,7 +161,7 @@ def log_calibrated_cameras(self) -> None:
                 )
             )
 
-            rr.log_transform3d(entity, rr.TranslationAndMat3(translation=calib_camera.position, matrix=rot))
+            rr.log_transform3d(entity, rr.TranslationAndMat3(translation=calib_camera.position, mat3x3=rot))
 
             assert calib_sensor.internals.type == "perspective"
 

examples/python/raw_mesh/main.py

@@ -43,8 +43,9 @@ def log_scene(scene: trimesh.Scene, node: str, path: str | None = None) -> None:
             world_from_mesh = node_data[0]
             rr.log(
                 path,
-                rr.datatypes.TranslationAndMat3x3(
-                    trimesh.transformations.translation_from_matrix(world_from_mesh), world_from_mesh[0:3, 0:3]
+                rr.Transform3D(
+                    mat3x3=trimesh.transformations.translation_from_matrix(world_from_mesh),
+                    translation=world_from_mesh[0:3, 0:3],
                 ),
             )
 

examples/python/ros_node/rerun_urdf.py

@@ -45,7 +45,7 @@ def log_scene(scene: trimesh.Scene, node: str, path: str | None = None, timeless
                 rr.Translation3D(
                     rr.TranslationAndMat3(
                         translation=trimesh.transformations.translation_from_matrix(world_from_mesh),
-                        matrix=world_from_mesh[0:3, 0:3],
+                        mat3x3=world_from_mesh[0:3, 0:3],
                     )
                 ),
                 timeless=timeless,

rerun_cpp/src/rerun/archetypes/transform3d_ext.cpp

@@ -55,7 +55,7 @@ namespace rerun {
             /// where the transform was logged. Otherwise, the transform maps from the space to its
             /// parent.
             Transform3D(const datatypes::Vec3D& translation, bool from_parent = false)
-                : Transform3D(datatypes::TranslationAndMat3x3(translation, from_parent)) {}
+                : Transform3D(datatypes::TranslationRotationScale3D(translation, from_parent)) {}
 
             /// From 3x3 matrix only.
             ///