wehub-resource-sync
129 lines
7.8 KiB
Markdown
129 lines
7.8 KiB
Markdown
---
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title: Migrating from 0.23 to 0.24
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order: 986
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---
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<!-- ^^^ this number must be _decremented_ when you copy/paste this file -->
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## Changed timeline navigation keyboard shortcut
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To accommodate the new tree keyboard navigation feature, the timeline navigation is changed as follows:
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- go to previous/next frame is ctrl-left/right (cmd on Mac) arrow (previously no modifier was needed)
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- go to beginning/end of timeline is alt-left/right (previously the ctrl/cmd modifier was used)
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## Previously deprecated, now removed
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### `Scalar`, `SeriesLine`, `SeriesPoint` archetypes
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Have been removed in favor of `Scalars`, `SeriesLines`, `SeriesPoints` respectively.
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## Micro-batcher default flushing duration increased from 8ms to 200ms for memory & file recording streams
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`RERUN_FLUSH_TICK_SECS` previously always defaulted to 8ms when left unspecified.
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This now only applies to recording streams that use a GRPC connection, all others default to 200ms.
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You can learn more about micro-batching in our [dedicated documentation page](../sdk/micro-batching.md).
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## Combining `InstancePoses3D` with orientations in `Boxes3D`/`Ellipsoids3D`/`Capsules3D` behaves differently in some cases now
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Previously, `Boxes3D`/`Ellipsoids3D`/`Capsules3D` all mirrored some transform components from `InstancePoses3D`.
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However, now that all components have distinct archetype-tags from the transform components in `InstancePoses3D`, form a separate transform
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that is applied prior to `InstancePoses3D`.
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I.e. transform resolve order was previously:
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```
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final = `Transform3D` * … * `Transform3D` * ([Box3D or `InstancePoses3D].quaternion * [Box3D or `InstancePoses3D].rotation_axis_angle * [Box3D or `InstancePoses3D].centers/translations)
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```
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And is now
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```
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final = `Transform3D` * … * `Transform3D` * InstancePoses3D * (Box3D.quaternion * Box3D.rotation_axis_angle * Box3D.centers)
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```
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As a concrete example, if you previously scaled boxes/ellipsoids/capsules using `InstancePoses3D` they would be scaled relative to the individual box centers.
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Now instead they are scaled relative to the entity's center.
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## `serve_web` is now deprecated in Rust and Python
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`serve_web` will be removed in a future release but is still available for now.
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Instead prefer an explicit combination of `serve_grpc` and `serve_web_viewer`:
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snippet: howto/serve_web_viewer
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Rust's even older `serve` (deprecated since 0.20) has been removed entirely now.
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## Component descriptors
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One limitation that we previously had with our data model was that it was only possible to use any `Component` once per entity path.
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This severely effected the design and flexibility of our archetypes.
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The underlying reason for this was that the our internal datastructures used the component's type names (previously also referred to as `ComponentName`) to index into the data.
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This release changes how components are identified within the viewer and within our APIs:
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Instead of specifying the component's type name, components are now referenced by a new syntax that consists of the (short) archetype name + the archetype field name separated by a colon (`:`).
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As an example, `Points3D:positions` refers to the `positions` component in the `rerun.archetypes.Points3D` archetype.
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(Previously, it would only be identified by its component type, i.e. `rerun.components.Position3D`.)
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For custom data, such as `AnyValues`, it is possible to omit the archetype part of this syntax and only specify the field name.
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To `View.select` columns in dataframe queries, we additionally need to specify the entity that a component belongs to.
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Starting with this release, this is achieved by adding the `entity_path` as a prefix to the component identifier, for example: `/helix/structure/left:Points3D:positions`.
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In general, the syntax for uniquely identifying a component in recording then becomes:
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```
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<entity_path>:[<archetype>:]<field>
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```
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### Custom data
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Internally we use, what we call a `ComponentDescriptor` to describe the structure and semantics of a component.
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Conceptually, it looks like the following:
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```rs
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struct ComponentDescriptor {
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archetype: Option<String>, // e.g. `rerun.archetypes.Points3D
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component: String, // e.g. `Points3D:positions`
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component_type: Option<String>, // e.g. `rerun.components.Position3D
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}
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```
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Custom data can still use simple field names such as `confidences`, but it is advised to supply a full `ComponentDescriptor`, if possible.
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For this we also provide a new `AnyValues.with_field` method.
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### Changes
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When logging data to Rerun using the builtin archetypes no changes to user code should be required.
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There is also migration code in place so that you can open `.rrd` files that were created with `v0.23`.
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Recordings from `v0.22` can also be loaded, but need to be migrated using the migration tool from `v0.23` first.
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These changes are reflected in various parts of the Rerun viewer:
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* It is now possible to log arbitrary overlapping archetypes on a single entity path. It is also now possible to re-use the same component type for different fields of the same archetype.
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* The selection panel UI comes with a revamped display of archetypes that uses the new syntax to show the `ComponentDescriptor` for each component.
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* The new `:`-based syntax needs to be used when referring to components in the dataframe API and in the dataframe view.
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* Changed the interpretation of `blueprint.datatypes.ComponentColumnSelector` to use the new component identifier.
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* Indicator components have been removed entirely. The viewer now instead decides which views & visualizers to activate based on archetype information of components.
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#### Blueprint component defaults
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Blueprint component defaults were previously applied to component _types_.
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They are now instead, applies to archetype fields, i.e. what is now just called _component_ (e.g. `GraphNodes:positions`).
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In practice this means that component defaults are now limited to a single archetype, making them a lot more useful!
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<picture>
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<img src="https://static.rerun.io/visualizer-default-context-menu/9622eae67d9bb17e428fda7242b45b8029639a99/full.png" alt="">
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</picture>
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### Limitations & breaking changes
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* In some cases, it is not possible to migrate previous blueprints, _but only if they were saved from the viewer via the UI_.
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* Currently, only Rerun-builtin components are picked up by the visualizers and therefore shown in the views (except for the dataframe view which shows all components).
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* In `v0.23`, the LeRobot dataloader logged incomplete `ComponentDescriptors` for robot observations and actions. To fix this, load the dataset in `v0.24` and resave your episodes to `.rrd` (`v0.24` now supports saving all selected recordings).
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* Overriding visualizers to reinterpret data (e.g. show a point-cloud for mesh vertices) is no longer possible, since visualizers now match for <archetype>:<field> instead of component type name. This will be addressed in the future with blueprint-driven overrides that will allow to remap data to arbitrary archetypes.
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* `VisualizerOverrides` are now limited to time series views, and _stop to be supported for general views_, such as the spatial views.
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* The `markers` component on `SeriesPoints` is now marked as _required_, to avoid accidentally logging an archetype without any associated data. In Python, when no component is supplied we automatically set the `markers` shape to `Circle` to avoid breaking user code.
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## Dataframe API: `View.select_static` is deprecated
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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.
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The same behavior can now be achieved by using `Recording.view(index=None, content=...)`.
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