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* changelog

* 0.5.0-alpha.0

* more changelog

* re_format: fix implicit recursive feature flags

* publish_crates.sh: fix crate ordering

* Join threads at end of multi-threading example (#1934)

* Add argument parsing to the rerun_demo (#1925)

* More robust wait for exit condition during .serve() (#1939)

* More robust wait for exit condition during .serve()

* lint

* Use zipfile python library instead of `unzip` command in arkitscene (#1936)

* Use zipfile python library instead of `unzip` command in arkitscene
Windows doesn't have unzip!

* Nit: import sort order

---------

Co-authored-by: Nikolaus West <[email protected]>

* Fix annotation images sometimes drawn in the background. (#1933)

This caused fairly ugly rendering whenever that happened. Also cleaned up redundant image/textured_rect defintions in spatial scene buildup

* Fix backslashes in arkitscene rigid transformation path (#1938)

* Fix backslashes in arkitscene rigid transformation path
Should be fixed properly by #1937

* Use PosixPath instead of .replace("\\", "/")

---------

Co-authored-by: Nikolaus West <[email protected]>

* changelog

* Fix hover/select highlights when picking single points in a scene with multiple point clouds (#1942)

Batch vertex offset for single highlights wasn't correctly computed. Different parts of the code made different assumptions what offsets referred to

* changelog

* Fix hovering depth clouds (#1943)

We didn't add to `scene.primitives.image`. Instead of adding to this list, it is instead now no longer needed for picking since we can very easily query for tensor again.

* changelog

* 2.5GB before GC kick in on web (#1944)

* changelog

* 0.5.0

---------

Co-authored-by: Jeremy Leibs <[email protected]>
Co-authored-by: Andreas Reich <[email protected]>
Co-authored-by: Nikolaus West <[email protected]>
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## [Unreleased](https://github.com/rerun-io/rerun/compare/latest...HEAD)
…

## [0.5.0](https://github.com/rerun-io/rerun/compare/v0.4.0...v0.5.0) - Jupyter MVP, GPU-based picking & colormapping, new datastore!

### Overview & Highlights

This new release adds MVP support for embedding Rerun in Jupyter notebooks, and brings significant performance improvements across all layers of the stack.

* Rerun can now be embedded in Jupyter notebooks
* Tested with Jupyter Notebook Classic, Jupyter Lab, VSCode & Google Colab; checkout our [How-to guide](https://www.rerun.io/docs/howto/notebook)
* Try it out live on [Google Colab](https://colab.research.google.com/drive/1R9I7s4o6wydQC_zkybqaSRFTtlEaked_?usp=sharing)
* All colormapping tasks are now done directly on the GPU
* This yields _very significant_ performance improvements for colormapping heavy workload (e.g. segmentation)
* Try it out in our new [`segment_anything` example](https://www.rerun.io/docs/getting-started/examples#segment-anything) that shows off the latest models from Meta AI
* GPU picking & hovering now works with all of our primitives, including meshes & depth clouds
* This fixes all the shortcomings of the previous CPU-based system
* Rerun's automatic backprojection of depth textures ("depth clouds") is now feature complete
* Try it out in our updated [`nyud` example](https://www.rerun.io/docs/getting-started/examples#nyud)
* Our datastore has been completely revamped to more closely match our latest data model
* This yields _very significant_ performance improvements for workloads with many events
* Checkout [this post](https://github.com/rerun-io/rerun/issues/1619#issuecomment-1511046649) for a detailed walkthrough of the changes

### In Detail

#### 🐍 Python SDK
- Document that we also accept colors in 0-1 floats [#1740](https://github.com/rerun-io/rerun/pull/1740)
- Don't initialize an SDK session if we are only going to be launching the app [#1768](https://github.com/rerun-io/rerun/pull/1768)
- Allow torch tensors for `log_rigid3` [#1769](https://github.com/rerun-io/rerun/pull/1769)
- Always send `recording_id` as part of `LogMsg` [#1778](https://github.com/rerun-io/rerun/pull/1778)
- New `reset_time` API [#1826](https://github.com/rerun-io/rerun/pull/1826) [#1854](https://github.com/rerun-io/rerun/pull/1854)
- Always flush when we remove a sink [#1830](https://github.com/rerun-io/rerun/pull/1830)
- More robust wait for exit condition during .serve() [#1939](https://github.com/rerun-io/rerun/pull/1939)

#### 🪳 Bug Fixes
- Fix broken outlines (hover/select effect) for lines [#1724](https://github.com/rerun-io/rerun/pull/1724)
- Fix logged obb being displayed with half of the requested size [#1749](https://github.com/rerun-io/rerun/pull/1749) (thanks [@BenjaminDev](https://github.com/BenjaminDev)!)
- Fix `log_obb` usage [#1761](https://github.com/rerun-io/rerun/pull/1761)
- Always create the `log_time` timeline [#1763](https://github.com/rerun-io/rerun/pull/1763)
- Fix undo/redo selection shortcut/action changing selection history without changing selection [#1765](https://github.com/rerun-io/rerun/pull/1765)
- Fix various crashes [#1780](https://github.com/rerun-io/rerun/pull/1780)
- Fix crash when trying to do picking on depth clouds [d94ca3dd35e73e1984ccb969d0c7abd0d3e0faa9](https://github.com/rerun-io/rerun/commit/d94ca3dd35e73e1984ccb969d0c7abd0d3e0faa9)
- ci: fix benchmarks [#1799](https://github.com/rerun-io/rerun/pull/1799)
- ci: fix `cargo deny` [#1806](https://github.com/rerun-io/rerun/pull/1806)
- Fix "too many points" crash [#1822](https://github.com/rerun-io/rerun/pull/1822)
- Allow re-use of `RowId`s if no conflict is possible [#1832](https://github.com/rerun-io/rerun/pull/1832)
- Reduce memory used by staging belts on Web [#1836](https://github.com/rerun-io/rerun/pull/1836)
- Test and handle all tensor dtypes as images [#1840](https://github.com/rerun-io/rerun/pull/1840)
- Fix the python build when running without `web_viewer` enabled [#1856](https://github.com/rerun-io/rerun/pull/1856)
- Error instead of `expect` inside `msg_encode` [#1857](https://github.com/rerun-io/rerun/pull/1857)
- Fix shutdown race condition in `re_sdk_comms` client [#1861](https://github.com/rerun-io/rerun/pull/1861)
- Fix broken instance picking in presence of images [#1876](https://github.com/rerun-io/rerun/pull/1876)
- Make sure JPEGs are always decoded [#1884](https://github.com/rerun-io/rerun/pull/1884)
- Fix crash when saving store to file [#1909](https://github.com/rerun-io/rerun/pull/1909)
- Don't clean up `LogDb`s that only contain a `BeginRecordingMsg` [#1914](https://github.com/rerun-io/rerun/pull/1914)
- Fix picking entities with image + another object (or label) twice [#1908](https://github.com/rerun-io/rerun/pull/1908)
- Fix double clicking camera no longer focusing on said camera [#1911](https://github.com/rerun-io/rerun/pull/1911)
- Fix annotation images sometimes drawn in the background [#1933](https://github.com/rerun-io/rerun/pull/1933)
- Use `zipfile` python library instead of `unzip` command in `arkitscene` demo [#1936](https://github.com/rerun-io/rerun/pull/1936)
- Fix backslashes in `arkitscene` rigid transformation path [#1938](https://github.com/rerun-io/rerun/pull/1938)
- Fix hover/select highlights when picking single points in a scene with multiple point clouds [#1942](https://github.com/rerun-io/rerun/pull/1942)
- Fix hovering depth clouds [#1943](https://github.com/rerun-io/rerun/pull/1943)

#### 🚀 Performance Improvements
- batching 4: retire `MsgBundle` + batching support in transport layer [#1679](https://github.com/rerun-io/rerun/pull/1679)
- Optimize the depth-cloud shader when `depth=0` [#1729](https://github.com/rerun-io/rerun/pull/1729)
- `arrow2_convert` primitive (de)serialization benchmarks [#1742](https://github.com/rerun-io/rerun/pull/1742)
- `arrow2` `estimated_bytes_size` benchmarks [#1743](https://github.com/rerun-io/rerun/pull/1743)
- `arrow2` erased refcounted clones benchmarks [#1745](https://github.com/rerun-io/rerun/pull/1745)
- benchmarks for common vector ops across `smallvec`/`tinyvec`/std [#1747](https://github.com/rerun-io/rerun/pull/1747)
- Columnar `TimePoint`s in data tables and during transport [#1767](https://github.com/rerun-io/rerun/pull/1767)
- Compile with `panic = "abort"` [#1813](https://github.com/rerun-io/rerun/pull/1813)
- Process 2D points per entities like 3D points [#1820](https://github.com/rerun-io/rerun/pull/1820)
- re_query: use latest data types (`DataRow`/`DataCell`) [#1828](https://github.com/rerun-io/rerun/pull/1828)
- Depth cloud textures are now cached frame-to-frame [#1913](https://github.com/rerun-io/rerun/pull/1913)

#### 🧑‍🏫 Examples
- Add new `ARKitScenes` example [#1538](https://github.com/rerun-io/rerun/pull/1538) (thanks [@pablovela5620](https://github.com/pablovela5620)!)
- New example code for Facebook research's `segment-anything` [#1788](https://github.com/rerun-io/rerun/pull/1788)
- Add `minimal_options` example for Rust SDK [#1773](https://github.com/rerun-io/rerun/pull/1773) (thanks [@h3mosphere](https://github.com/h3mosphere)!)
- Remove manual depth projection from `car` and `nyud` examples [#1869](https://github.com/rerun-io/rerun/pull/1869)
- Always spawn instead of fork in multiprocessing example [#1922](https://github.com/rerun-io/rerun/pull/1922)
- Add `--num-frames` arg to canny (webcam) example [#1923](https://github.com/rerun-io/rerun/pull/1923)
- Add argument parsing to `rerun_demo` [#1925](https://github.com/rerun-io/rerun/pull/1925)
- Join threads at end of `multithreading` example [#1934](https://github.com/rerun-io/rerun/pull/1934)

#### 📚 Docs
- Add `typing_extensions` to `requirements-doc.txt` [#1786](https://github.com/rerun-io/rerun/pull/1786)
- Fix typos in notebook readme [#1852](https://github.com/rerun-io/rerun/pull/1852)
- Update docs related to notebook [#1915](https://github.com/rerun-io/rerun/pull/1915)

#### 🖼 UI Improvements
- Hover rays for tracked 3D cameras [#1751](https://github.com/rerun-io/rerun/pull/1751)
- Collapse space-view by default if there is only one child [#1762](https://github.com/rerun-io/rerun/pull/1762)
- Option to show scene bounding box [#1770](https://github.com/rerun-io/rerun/pull/1770)
- Assign default colors to class-ids when annotation context is missing [#1783](https://github.com/rerun-io/rerun/pull/1783)
- Add Restart command and keyboard shortcut for moving time to start of timeline [#1802](https://github.com/rerun-io/rerun/pull/1802) (thanks [@h3mosphere](https://github.com/h3mosphere)!)
- New option to disable persistent storage [#1825](https://github.com/rerun-io/rerun/pull/1825)
- Show previews of colormaps when selecting them [#1846](https://github.com/rerun-io/rerun/pull/1846)
- Smooth out scroll wheel input for camera zooming [#1920](https://github.com/rerun-io/rerun/pull/1920)

#### 🤷‍♂️ Other Viewer Improvements
- Change `EntityPathHash` to be 64 bit [#1723](https://github.com/rerun-io/rerun/pull/1723)
- Central `GpuReadback` handling for re_viewer, experimental space view screenshots [#1717](https://github.com/rerun-io/rerun/pull/1717)
- Readback depth from GPU picking [#1752](https://github.com/rerun-io/rerun/pull/1752)
- Use GPU picking for points, streamline/share picking code some more [#1814](https://github.com/rerun-io/rerun/pull/1814)
- Use GPU picking for line(like) primitives, fix `interactive` flags [#1829](https://github.com/rerun-io/rerun/pull/1829)
- Use GPU colormapping when showing images in the GUI [#1865](https://github.com/rerun-io/rerun/pull/1865)

#### 🕸️ Web
- Make CI publish `latest` tagged web-viewer to `app.rerun.io` [#1725](https://github.com/rerun-io/rerun/pull/1725)
- Implement `re_tuid::Tuid::random()` on web [#1796](https://github.com/rerun-io/rerun/pull/1796)
- Refactor the relationship between the assorted web / websocket servers [#1844](https://github.com/rerun-io/rerun/pull/1844)
- Notebooks: make `presentation_id` consistent and use data-attribute for rrd [#1881](https://github.com/rerun-io/rerun/pull/1881)
- 2.5GB before GC kick in on web [#1944](https://github.com/rerun-io/rerun/pull/1944)

#### 🎨 Renderer Improvements
- GPU based picking with points [#1721](https://github.com/rerun-io/rerun/pull/1721)
- improved renderer label handling [#1731](https://github.com/rerun-io/rerun/pull/1731)
- Improved readback data handling [#1734](https://github.com/rerun-io/rerun/pull/1734)
- GPU based mesh picking [#1737](https://github.com/rerun-io/rerun/pull/1737)
- Improve dealing with raw buffers for texture read/write [#1744](https://github.com/rerun-io/rerun/pull/1744)
- GPU colormapping, first step [#1835](https://github.com/rerun-io/rerun/pull/1835)
- GPU tensor colormapping [#1841](https://github.com/rerun-io/rerun/pull/1841)
- GPU picking for depth clouds [#1849](https://github.com/rerun-io/rerun/pull/1849)
- Implement billinear filtering of textures [#1850](https://github.com/rerun-io/rerun/pull/1850) [#1859](https://github.com/rerun-io/rerun/pull/1859) [#1860](https://github.com/rerun-io/rerun/pull/1860)
- Refactor: remove `GpuTexture2DHandle::invalid` [#1866](https://github.com/rerun-io/rerun/pull/1866)
- Fix filtering artifact for non-color images [#1886](https://github.com/rerun-io/rerun/pull/1886)
- Refactor: Add helper functions to `GpuTexture2DHandle` [#1900](https://github.com/rerun-io/rerun/pull/1900)

#### 🛢 Datastore Improvements
- Datastore: revamp bench suite [#1733](https://github.com/rerun-io/rerun/pull/1733)
- Datastore revamp 1: new indexing model & core datastructures [#1727](https://github.com/rerun-io/rerun/pull/1727)
- Datastore revamp 2: serialization & formatting [#1735](https://github.com/rerun-io/rerun/pull/1735)
- Datastore revamp 3: efficient incremental stats [#1739](https://github.com/rerun-io/rerun/pull/1739)
- Datastore revamp 4: sunset `MsgId` [#1785](https://github.com/rerun-io/rerun/pull/1785)
- Datastore revamp 5: `DataStore::to_data_tables()` [#1791](https://github.com/rerun-io/rerun/pull/1791)
- Datastore revamp 6: sunset `LogMsg` storage + save store to disk [#1795](https://github.com/rerun-io/rerun/pull/1795)
- Datastore revamp 7: garbage collection [#1801](https://github.com/rerun-io/rerun/pull/1801)
- Incremental metadata registry stats [#1833](https://github.com/rerun-io/rerun/pull/1833)

#### ✨ Other Enhancement

#### 🗣 Merged RFCs
- RFC: datastore state of the union & end-to-end batching [#1610](https://github.com/rerun-io/rerun/pull/1610)

#### 🧑‍💻 Dev-experience
- Post-release cleanup [#1726](https://github.com/rerun-io/rerun/pull/1726)
- Remove unnecessary dependencies [#1711](https://github.com/rerun-io/rerun/pull/1711) (thanks [@vsuryamurthy](https://github.com/vsuryamurthy)!)
- Use copilot markers in PR template [#1784](https://github.com/rerun-io/rerun/pull/1784)
- re_format: barebone support for custom formatting [#1776](https://github.com/rerun-io/rerun/pull/1776)
- Refactor: Add new helper crate `re_log_encoding` [#1772](https://github.com/rerun-io/rerun/pull/1772)
- `setup_web.sh` supports pacman package manager [#1797](https://github.com/rerun-io/rerun/pull/1797) (thanks [@urholaukkarinen](https://github.com/urholaukkarinen)!)
- Add `rerun --strict`: crash if any warning or error is logged [#1812](https://github.com/rerun-io/rerun/pull/1812)
- End-to-end testing of python logging -> store ingestion [#1817](https://github.com/rerun-io/rerun/pull/1817)
- Fix e2e test on CI: Don't try to re-build `rerun-sdk` [#1821](https://github.com/rerun-io/rerun/pull/1821)
- Install the rerun-sdk in CI using `--no-index` and split out linux wheel build to run first [#1838](https://github.com/rerun-io/rerun/pull/1838)
- Remove more unused dependencies [#1863](https://github.com/rerun-io/rerun/pull/1863)
- Improve end-to-end testing slightly [#1862](https://github.com/rerun-io/rerun/pull/1862)
- Turn off benchmarks comment in each PR [#1872](https://github.com/rerun-io/rerun/pull/1872)
- Fix double-negation in `scripts/run_python_e2e_test.py` [#1896](https://github.com/rerun-io/rerun/pull/1896)
- Improve PR template with better comment, and no copilot by default [#1901](https://github.com/rerun-io/rerun/pull/1901)
- Optimize `generate_changelog.py` [#1912](https://github.com/rerun-io/rerun/pull/1912)

#### 🤷‍♂️ Other
- Fix videos for GitHub in `CHANGELOG.md` [af7d3b192157f942e35f64d3561a9a8dbcc18bfa](https://github.com/rerun-io/rerun/commit/af7d3b192157f942e35f64d3561a9a8dbcc18bfa)
- Don't run 3rd party bench suites on CI [#1787](https://github.com/rerun-io/rerun/pull/1787)
- Remove `TensorTrait` [#1819](https://github.com/rerun-io/rerun/pull/1819)
- Disable wheel tests for `x86_64-apple-darwin` [#1853](https://github.com/rerun-io/rerun/pull/1853)
- Update `enumflags2` to non-yanked version [#1874](https://github.com/rerun-io/rerun/pull/1874)
- Collect extra egui features into the main `Cargo.toml` [#1926](https://github.com/rerun-io/rerun/pull/1926)
- `just rs-run-all` [b14087b40bd805c95f030a4c7d3fb7a0482e13f4](https://github.com/rerun-io/rerun/commit/b14087b40bd805c95f030a4c7d3fb7a0482e13f4)
- `just py-run-all-{native|web|rrd}` [#1927](https://github.com/rerun-io/rerun/pull/1927)

## [0.4.0](https://github.com/rerun-io/rerun/compare/v0.3.1...v0.4.0) - Outlines, web viewer and performance improvements

https://user-images.githubusercontent.com/1220815/228241887-03b311e2-80e9-4541-9281-6d334a15ab04.mp4


## Overview & Highlights
### Overview & Highlights
* Add support for mesh vertex colors [#1671](https://github.com/rerun-io/rerun/pull/1671)
* Lower memory use [#1535](https://github.com/rerun-io/rerun/pull/1535)
* Improve garbage collection [#1560](https://github.com/rerun-io/rerun/pull/1560)
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