Rerun

Migrating from 0.23 to 0.24

Changed timeline navigation keyboard shortcut changed-timeline-navigation-keyboard-shortcut

To accommodate the new tree keyboard navigation feature, the timeline navigation is changed as follows:

  • go to previous/next frame is ctrl-left/right (cmd on Mac) arrow (previously no modifier was needed)
  • go to beginning/end of timeline is alt-left/right (previously the ctrl/cmd modifier was used)

Previously deprecated, now removed previously-deprecated-now-removed

Scalar, SeriesLine, SeriesPoint archetypes scalar-seriesline-seriespoint-archetypes

Have been removed in favor of Scalars, SeriesLines, SeriesPoints respectively.

Combining InstancePoses3D with orientations in Boxes3D/Ellipsoids3D/Capsules3D behaves differently in some cases now combining-instanceposes3d-with-orientations-in-boxes3dellipsoids3dcapsules3d-behaves-differently-in-some-cases-now

Previously, Boxes3D/Ellipsoids3D/Capsules3D all mirrored some transform components from InstancePoses3D. However, now that all components have distinct archetype-tags from the transform components in InstancePoses3D, form a separate transform that is applied prior to InstancePoses3D.

I.e. transform resolve order was previously:

final = `Transform3D` * … * `Transform3D` * ([Box3D or `InstancePoses3D].quaternion * [Box3D or `InstancePoses3D].rotation_axis_angle * [Box3D or `InstancePoses3D].centers/translations)

And is now

final = `Transform3D` * … * `Transform3D` * InstancePoses3D * (Box3D.quaternion * Box3D.rotation_axis_angle * Box3D.centers)

As a concrete example, if you previously scaled boxes/ellipsoids/capsules using InstancePoses3D they would be scaled relative to the individual box centers. Now instead they are scaled relative to the entity's center.

serve_web is now deprecated in Rust and Python serveweb-is-now-deprecated-in-rust-and-python

serve_web will be removed in a future release but is still available for now. Instead prefer an explicit combination of serve_grpc and serve_web_viewer:

"""Demonstrates how to log data to a gRPC server and connect the web viewer to it."""

import time

import rerun as rr

rr.init("rerun_example_serve_web_viewer")
# Start a gRPC server and use it as log sink.
server_uri = rr.serve_grpc()

# Connect the web viewer to the gRPC server and open it in the browser
rr.serve_web_viewer(connect_to=server_uri)

# Log some data to the gRPC server.
rr.log("data", rr.Boxes3D(half_sizes=[2.0, 2.0, 1.0]))

# Keep server running. If we cancel it too early, data may never arrive in the browser.
try:
    while True:
        time.sleep(1)
except KeyboardInterrupt:
    print("\nShutting down server...")

Rust's even older serve (deprecated since 0.20) has been removed entirely now.

Tagged components tagged-components

re_types_core

  • The obvious ComponentDescriptor changes.

re_types

  • Indicator components now become indicator fields. This is only temporary until we get rid of indicators.

re_log_types

  • Removed auto-filling of rerun.components. to ComponentType in path parsing.

re_sorbet

  • Lookup ColumnDescriptor by ComponentIdentifier instead of ComponentType.
  • Changed ComponentColumnSelector.
  • Changed ComponentColumnDescriptor::column_name to use fully-qualified column names.

rerun_py

  • Dataframe queries now use the new string representation everywhere. It's not allowed to pass in components anymore.
  • resolve_component_column_selector now returns an Option.

With tagged components, our data model becomes much more flexible. We can now have multiple components of the same type living on the same archetype, so we also need a new way to identify columns in a recording. For this we introduce the following new string-based representation:

<entity_path>:[<archetype_name>]:<component>

Note that the archetype_name section is optional, because components can also be logged as plain fields.

Blueprints blueprints

We have updated our logic so that the component field of blueprint.datatypes.ComponentColumnSelector follows the same schema.

LeRobot dataloader

  • Fixed an issue where the LeRobot dataloader logged untagged Name components for robot observations and actions, .rrd files created before 0.24 may include these untagged entries. To fix this, load the dataset in 0.24.0 and resave your episodes to .rrd (0.24.0 now supports saving all selected recordings).

Dataframe API: View.select_static is deprecated dataframe-api-viewselectstatic-is-deprecated

The dataframe API was originally introduced with the View.select_static() variant of View.select() used when the view only contains static columns. In such cases, select() would yield no row as no data is logged at any index value (by definition of static-only content). Instead, select_static() would force the generation of a single, index-less row populated with the static data.

The same behavior can now be achieved by using Recording.view(index=None, content=...).

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