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Overview
The Data Layer for Physical AI
Docs Guide
Getting Started
Install Rerun
Python SDK
C++ SDK
Rust SDK
Viewer
Troubleshooting
Set up a project
Set up a Python project
Set up a C++ project
Set up a Rust project
Log and Ingest
Opening files
Visualize
Navigating the Viewer
Query and Transform
Explore a recording with the dataframe view
Export the dataframe
Analyze the data and send back the results
Train
Concepts
How does Rerun work?
Log and Ingest
Recordings
Entities and Components
The Entity Path Hierarchy
Transforms & Coordinate Frames
Events and Timelines
Static data
Chunks
RRD format
Chunk Processing API
Query semantics & partial updates
Importers
Overview
C++ example
Python example
Rust example
MCAP files
Supported Message Formats
MCAP Decoders Explained
CLI Reference for MCAP
Component Batches
Sinks
Video
Audio
Visualize
Blueprints
Customize views
Annotation Context
Entity Queries
Query and Transform
Catalog object model
Properties and segment tables
Dataframe queries
Lenses
The open-source catalog server
Train
How-to
Log and Ingest
Send entire columns at once
Send dataframes to a recording
Using layers to append data to segments
Send partial updates over time
Send tables to Rerun
Share recordings across multiple processes
Log to several recordings from one process
Send user-defined data
Log Eigen, OpenCV, and custom C++ types without copying
Clear out data using tombstones
Working with MCAP
Working with LeRobot datasets
Optimize chunk count
Work with .rrd files
Loading URDF models
Visualize
Limit the viewer's memory usage
Diagnose latency and performance
Some of my data is not shown
View data from a remote or headless machine
Use multiple native viewers
Control playback and drive the Viewer from code
Export screenshots, videos, and point clouds
Control the 3D camera
Implement custom visualizations (Rust only)
Customize plots
Show trails, history, and sliding time windows
Visualize fixed-window plots
Show a subset of plotted series
Component mappings
Show text labels in 2D and 3D
Control mesh appearance
Visualize depth images, heightmaps, and voxels
Visualize uncertainty and covariance
Visualize geospatial data
React to events in the Viewer
Building blueprints programmatically
Configure table layouts and segment previews
Plot any scalar
Visualize state changes and events
Show and filter text logs
Query and Transform
Overview
Common Dataframe Operations
Query images
View Operations
Query video streams
Time-align data
Generate segment URLs in dataframes
Query data out of Rerun
Dataset Resampling
Query Performance Tuning
Creating sub-datasets
Storing query results in catalog tables
Train
Export recordings to LeRobot datasets
Train PyTorch models with Rerun
Integrations
Embed Rerun in notebooks
Embed Rerun in Web pages
Share recordings with many users through the web Viewer
Share recordings with people who don't code
Use Rerun with ROS 2
Integrate Rerun with native loggers
Hub
Bucket configuration
Reference
Types
Archetypes
AnnotationContext
Arrows2D
Arrows3D
Asset3D
AssetAudio
AssetVideo
BarChart
Boxes2D
Boxes3D
Capsules3D
Clear
CoordinateFrame
Cylinders3D
DepthImage
Ellipses2D
Ellipsoids3D
EncodedDepthImage
EncodedImage
GaussianSplats3D
GeoLineStrings
GeoPoints
GraphEdges
GraphNodes
GridMap
Image
InstancePoses3D
LineStrips2D
LineStrips3D
McapChannel
McapMessage
McapSchema
McapStatistics
Measurements
Mesh3D
Pinhole
Points2D
Points3D
RecordingInfo
Scalars
SegmentationImage
SeriesLines
SeriesPoints
StateChange
StateConfiguration
Tensor
TextDocument
TextLog
Transform3D
TransformAxes3D
VideoFrameReference
VideoStream
ViewCoordinates
Volume3D
VoxelGridMap
Components
AggregationPolicy
AlbedoFactor
AnnotationContext
AxisLength
Blob
Bool
CellSize
ChannelId
ChannelMessageCounts
ClassId
ClearIsRecursive
Color
Colormap
Count
DepthMeter
DrawOrder
EntityPath
EntryKind
FillMode
FillRatio
Flag
GammaCorrection
GeoLineString
GraphEdge
GraphNode
GraphType
HalfSize2D
HalfSize3D
ImageBuffer
ImageFormat
ImagePlaneDistance
Interactive
InterpolationMode
IsKeyframe
KeypointId
KeyValuePairs
LatLon
LayerName
Length
LinearSpeed
LineStrip2D
LineStrip3D
MagnificationFilter
MarkerShape
MarkerSize
MediaType
MeshFaceRendering
Name
Opacity
OpticalDensity
PinholeProjection
Plane3D
PointShading
Position2D
Position3D
Radius
Range1D
Resolution
RotationAxisAngle
RotationQuat
Scalar
Scale3D
SchemaId
ShowLabels
SphericalHarmonics3Rgb
SphericalHarmonicsDegree
StrokeWidth
TensorData
TensorDimensionIndexSelection
TensorHeightDimension
TensorWidthDimension
Texcoord2D
Text
TextLogLevel
Thumbnail
Timestamp
TransformFrameId
TransformMat3x3
TransformRelation
Translation3D
TriangleIndices
Unit
Url
ValueRange
Variance
Vector2D
Vector3D
VideoCodec
VideoSample
VideoTimestamp
ViewCoordinates
Visible
VoxelIndex
VoxelSize
VoxelValue
Encodings
AbsoluteTimeRange
Angle
AnnotationInfo
Blob
Bool
ChannelCountPair
ChannelDatatype
ClassDescription
ClassDescriptionMapElem
ClassId
ColorModel
DVec2D
EntityPath
Float32
Float64
ImageFormat
IVec3D
KeypointId
KeypointPair
Mat3x3
Mat4x4
PixelFormat
Plane3D
Quaternion
Range1D
Range2D
Rgba32
RotationAxisAngle
SphericalHarmonics3Rgb
TensorBuffer
TensorData
TensorDimensionIndexSelection
TensorDimensionSelection
TimeInt
TimeRange
TimeRangeBoundary
UInt16
UInt32
UInt64
Utf8
Utf8Pair
Uuid
UVec2D
UVec3D
UVec4D
Vec2D
Vec3D
Vec4D
VideoTimestamp
ViewCoordinates
ViewDir
VisibleTimeRange
Views
AudioView
BarChartView
DataframeView
GraphView
MapView
RawDataView
Spatial2DView
Spatial3DView
StateTimelineView
TensorView
TextDocumentView
TextLogView
TimeSeriesView
Datastore compaction
gRPC API
SDK
Logging Controls
Micro Batching
Operating Modes
Viewer
Overview
Blueprint Panel
Selection
Timeline
Viewport
MCP server
Viewer URLs
About
CLI manual
C++ APIs
Python APIs
Rust APIs
Web Viewer API
Code snippets
Changelog
0.43
0.42
0.41
0.40
0.39
0.38
0.37
0.36
0.35
0.34
Developing Rerun
Roadmap
Architecture
Code of Conduct
Contributing
Overview
The Data Layer for Physical AI
Docs Guide
Getting Started
Install Rerun
Python SDK
C++ SDK
Rust SDK
Viewer
Troubleshooting
Set up a project
Set up a Python project
Set up a C++ project
Set up a Rust project
Log and Ingest
Opening files
Visualize
Navigating the Viewer
Query and Transform
Explore a recording with the dataframe view
Export the dataframe
Analyze the data and send back the results
Train
Concepts
How does Rerun work?
Log and Ingest
Recordings
Entities and Components
The Entity Path Hierarchy
Transforms & Coordinate Frames
Events and Timelines
Static data
Chunks
RRD format
Chunk Processing API
Query semantics & partial updates
Importers
Overview
C++ example
Python example
Rust example
MCAP files
Supported Message Formats
MCAP Decoders Explained
CLI Reference for MCAP
Component Batches
Sinks
Video
Audio
Visualize
Blueprints
Customize views
Annotation Context
Entity Queries
Query and Transform
Catalog object model
Properties and segment tables
Dataframe queries
Lenses
The open-source catalog server
Train
How-to
Log and Ingest
Send entire columns at once
Send dataframes to a recording
Using layers to append data to segments
Send partial updates over time
Send tables to Rerun
Share recordings across multiple processes
Log to several recordings from one process
Send user-defined data
Log Eigen, OpenCV, and custom C++ types without copying
Clear out data using tombstones
Working with MCAP
Working with LeRobot datasets
Optimize chunk count
Work with .rrd files
Loading URDF models
Visualize
Limit the viewer's memory usage
Diagnose latency and performance
Some of my data is not shown
View data from a remote or headless machine
Use multiple native viewers
Control playback and drive the Viewer from code
Export screenshots, videos, and point clouds
Control the 3D camera
Implement custom visualizations (Rust only)
Customize plots
Show trails, history, and sliding time windows
Visualize fixed-window plots
Show a subset of plotted series
Component mappings
Show text labels in 2D and 3D
Control mesh appearance
Visualize depth images, heightmaps, and voxels
Visualize uncertainty and covariance
Visualize geospatial data
React to events in the Viewer
Building blueprints programmatically
Configure table layouts and segment previews
Plot any scalar
Visualize state changes and events
Show and filter text logs
Query and Transform
Overview
Common Dataframe Operations
Query images
View Operations
Query video streams
Time-align data
Generate segment URLs in dataframes
Query data out of Rerun
Dataset Resampling
Query Performance Tuning
Creating sub-datasets
Storing query results in catalog tables
Train
Export recordings to LeRobot datasets
Train PyTorch models with Rerun
Integrations
Embed Rerun in notebooks
Embed Rerun in Web pages
Share recordings with many users through the web Viewer
Share recordings with people who don't code
Use Rerun with ROS 2
Integrate Rerun with native loggers
Hub
Bucket configuration
Reference
Types
Archetypes
AnnotationContext
Arrows2D
Arrows3D
Asset3D
AssetAudio
AssetVideo
BarChart
Boxes2D
Boxes3D
Capsules3D
Clear
CoordinateFrame
Cylinders3D
DepthImage
Ellipses2D
Ellipsoids3D
EncodedDepthImage
EncodedImage
GaussianSplats3D
GeoLineStrings
GeoPoints
GraphEdges
GraphNodes
GridMap
Image
InstancePoses3D
LineStrips2D
LineStrips3D
McapChannel
McapMessage
McapSchema
McapStatistics
Measurements
Mesh3D
Pinhole
Points2D
Points3D
RecordingInfo
Scalars
SegmentationImage
SeriesLines
SeriesPoints
StateChange
StateConfiguration
Tensor
TextDocument
TextLog
Transform3D
TransformAxes3D
VideoFrameReference
VideoStream
ViewCoordinates
Volume3D
VoxelGridMap
Components
AggregationPolicy
AlbedoFactor
AnnotationContext
AxisLength
Blob
Bool
CellSize
ChannelId
ChannelMessageCounts
ClassId
ClearIsRecursive
Color
Colormap
Count
DepthMeter
DrawOrder
EntityPath
EntryKind
FillMode
FillRatio
Flag
GammaCorrection
GeoLineString
GraphEdge
GraphNode
GraphType
HalfSize2D
HalfSize3D
ImageBuffer
ImageFormat
ImagePlaneDistance
Interactive
InterpolationMode
IsKeyframe
KeypointId
KeyValuePairs
LatLon
LayerName
Length
LinearSpeed
LineStrip2D
LineStrip3D
MagnificationFilter
MarkerShape
MarkerSize
MediaType
MeshFaceRendering
Name
Opacity
OpticalDensity
PinholeProjection
Plane3D
PointShading
Position2D
Position3D
Radius
Range1D
Resolution
RotationAxisAngle
RotationQuat
Scalar
Scale3D
SchemaId
ShowLabels
SphericalHarmonics3Rgb
SphericalHarmonicsDegree
StrokeWidth
TensorData
TensorDimensionIndexSelection
TensorHeightDimension
TensorWidthDimension
Texcoord2D
Text
TextLogLevel
Thumbnail
Timestamp
TransformFrameId
TransformMat3x3
TransformRelation
Translation3D
TriangleIndices
Unit
Url
ValueRange
Variance
Vector2D
Vector3D
VideoCodec
VideoSample
VideoTimestamp
ViewCoordinates
Visible
VoxelIndex
VoxelSize
VoxelValue
Encodings
AbsoluteTimeRange
Angle
AnnotationInfo
Blob
Bool
ChannelCountPair
ChannelDatatype
ClassDescription
ClassDescriptionMapElem
ClassId
ColorModel
DVec2D
EntityPath
Float32
Float64
ImageFormat
IVec3D
KeypointId
KeypointPair
Mat3x3
Mat4x4
PixelFormat
Plane3D
Quaternion
Range1D
Range2D
Rgba32
RotationAxisAngle
SphericalHarmonics3Rgb
TensorBuffer
TensorData
TensorDimensionIndexSelection
TensorDimensionSelection
TimeInt
TimeRange
TimeRangeBoundary
UInt16
UInt32
UInt64
Utf8
Utf8Pair
Uuid
UVec2D
UVec3D
UVec4D
Vec2D
Vec3D
Vec4D
VideoTimestamp
ViewCoordinates
ViewDir
VisibleTimeRange
Views
AudioView
BarChartView
DataframeView
GraphView
MapView
RawDataView
Spatial2DView
Spatial3DView
StateTimelineView
TensorView
TextDocumentView
TextLogView
TimeSeriesView
Datastore compaction
gRPC API
SDK
Logging Controls
Micro Batching
Operating Modes
Viewer
Overview
Blueprint Panel
Selection
Timeline
Viewport
MCP server
Viewer URLs
About
CLI manual
C++ APIs
Python APIs
Rust APIs
Web Viewer API
Code snippets
Changelog
0.43
0.42
0.41
0.40
0.39
0.38
0.37
0.36
0.35
0.34
Developing Rerun
Roadmap
Architecture
Code of Conduct
Contributing
Integrations
How-to guides for integrating Rerun with other tools.
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Query and Transform
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Embed Rerun in notebooks
