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chore: bump rerun-sdk version #283

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Merged
ktro2828 merged 1 commit into from
Jul 16, 2026
Merged

chore: bump rerun-sdk version #283

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2 changes: 1 addition & 1 deletion pyproject.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ authors = [{ name = "Kotaro Uetake", email = "kotaro.uetake@tier4.jp" }]
readme = "README.md"
requires-python = ">=3.10,<3.13"
dependencies = [
"rerun-sdk>=0.20.0,<0.28.0",
"rerun-sdk>=0.20.0",
"pyquaternion>=0.9.9",
"matplotlib>=3.9.2",
"shapely<2.0.0; python_version=='3.10'",
Expand Down
25 changes: 17 additions & 8 deletions t4_devkit/viewer/viewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,8 @@

__all__ = ["RerunViewer"]

RERUN_SDK_VERSION = tuple(int(part) for part in rr.__version__.split(".")[:2])


def _check_spatial3d(function: Callable) -> Callable:
"""Check if the viewer has the 3D view space.
Expand Down Expand Up @@ -90,6 +92,13 @@ def checker(viewer: RerunViewer, filepath: str):
return checker


def _set_time_seconds(timeline: EntityPath, seconds: float) -> None:
if RERUN_SDK_VERSION < (0, 27):
rr.set_time_seconds(timeline, seconds)
else:
rr.set_time(timeline, timestamp=seconds)


class RerunViewer:
"""A viewer class that renders some components powered by rerun."""

Expand Down Expand Up @@ -215,7 +224,7 @@ def render_box3ds(self, *args, **kwargs) -> None:
self._render_box3ds_with_elements(*args, **kwargs)

def _render_box3ds_with_boxes(self, seconds: float, boxes: Sequence[Box3D]) -> None:
rr.set_time_seconds(EntityPath.TIMELINE, seconds)
_set_time_seconds(EntityPath.TIMELINE, seconds)

batches: dict[str, BatchBox3D] = {}
for box in boxes:
Expand Down Expand Up @@ -288,7 +297,7 @@ def _render_box3ds_with_elements(
future=future,
)

rr.set_time_seconds(EntityPath.TIMELINE, seconds)
_set_time_seconds(EntityPath.TIMELINE, seconds)

rr.log(format_entity(EntityPath.MAP, frame_id, EntityPath.BOX), batch.as_boxes3d())

Expand Down Expand Up @@ -344,7 +353,7 @@ def render_box2ds(self, *args, **kwargs) -> None:
self._render_box2ds_with_elements(*args, **kwargs)

def _render_box2ds_with_boxes(self, seconds: float, boxes: Sequence[Box2D]) -> None:
rr.set_time_seconds(EntityPath.TIMELINE, seconds)
_set_time_seconds(EntityPath.TIMELINE, seconds)

batches: dict[str, BatchBox2D] = {}
for box in boxes:
Expand Down Expand Up @@ -373,7 +382,7 @@ def _render_box2ds_with_elements(
for roi, class_id, uuid in zip(rois, class_ids, uuids, strict=True):
batch.append(roi=roi, class_id=class_id, uuid=uuid)

rr.set_time_seconds(EntityPath.TIMELINE, seconds)
_set_time_seconds(EntityPath.TIMELINE, seconds)
rr.log(format_entity(EntityPath.BASE_LINK, camera, EntityPath.BOX), batch.as_boxes2d())

@_check_spatial2d
Expand All @@ -395,7 +404,7 @@ def render_segmentation2d(
class_ids (Sequence[int]): Sequence of label ids.
uuids (Sequence[str | None] | None, optional): Sequence of each instance ID.
"""
rr.set_time_seconds(EntityPath.TIMELINE, seconds)
_set_time_seconds(EntityPath.TIMELINE, seconds)

batch = BatchSegmentation2D()
if uuids is None:
Expand Down Expand Up @@ -425,7 +434,7 @@ def render_pointcloud(
color_mode (PointCloudColorMode, optional): Color mode for pointcloud.
"""
# TODO(ktro2828): add support of rendering pointcloud on images
rr.set_time_seconds(EntityPath.TIMELINE, seconds)
_set_time_seconds(EntityPath.TIMELINE, seconds)

entity_path = format_entity(EntityPath.BASE_LINK, channel)
if color_mode == PointCloudColorMode.SEGMENTATION:
Expand All @@ -450,7 +459,7 @@ def render_image(self, seconds: float, camera: str, image: str | NDArrayU8) -> N
camera (str): Name of the camera channel.
image (str | NDArrayU8): Image tensor or path of the image file.
"""
rr.set_time_seconds(EntityPath.TIMELINE, seconds)
_set_time_seconds(EntityPath.TIMELINE, seconds)

entity_path = format_entity(EntityPath.BASE_LINK, camera)
entity = rr.ImageEncoded(path=image) if isinstance(image, str) else rr.Image(image)
Expand Down Expand Up @@ -509,7 +518,7 @@ def _render_ego_without_schema(
rotation: RotationLike,
geocoordinate: Vector3Like | None = None,
) -> None:
rr.set_time_seconds(EntityPath.TIMELINE, seconds)
_set_time_seconds(EntityPath.TIMELINE, seconds)

rr.log(
EntityPath.BASE_LINK,
Expand Down
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