Closed
Description
Describe the bug
AnnotationContext no longer works on 0.23.1 when trying to log link connections (on notebooks)
To Reproduce
Minimal script to reproduce on a jupyter notebook
import numpy as np
import rerun as rr
import rerun.blueprint as rrb
left_joints = np.array([
[-0.0956699, 0.00638343, 0.00618631],
[-0.0715802, -0.0091389, 0.03199915],
[-0.0519469, -0.0082476, 0.0556987 ],
[-0.0297292, -0.0136805, 0.07022282],
[-0.0022312, -0.018095, 0.0909145 ],
[-0.0075726, 0.00118307, 0.0268723 ],
[ 0.02510622, 0.00519243, 0.02908936],
[ 0.04726213, 0.003894, 0.02897524],
[ 0.0705249, 0.00461197, 0.03302451],
[-0.0010094, 0.00490446, 0.00282876],
[ 0.03017318, 0.00676579, -0.0027657 ],
[ 0.05307782, 0.00551369, -0.0067102 ],
[ 0.07899282, 0.00614665, -0.0120408 ],
[-0.0139343, 0.00242601, -0.0204868 ],
[ 0.0143799, 0.00449301, -0.0255854 ],
[ 0.03790041, 0.0028049, -0.0332192 ],
[ 0.06080423, 0.00734306, -0.0402022 ],
[-0.0268829, -0.0035569, -0.037023 ],
[-0.0098685, -0.003495, -0.0495218 ],
[ 0.00599835, -0.0041862, -0.0598537 ],
[ 0.02189885, -0.0016281, -0.0701316 ]
])
MEDIAPIPE_IDS = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20]
MEDIAPIPE_ID2NAME = {
0: 'WRIST',
1: 'THUMB_CMC',
2: 'THUMB_MCP',
3: 'THUMB_IP',
4: 'THUMB_TIP',
5: 'INDEX_MCP',
6: 'INDEX_PIP',
7: 'INDEX_DIP',
8: 'INDEX_TIP',
9: 'MIDDLE_MCP',
10: 'MIDDLE_PIP',
11: 'MIDDLE_DIP',
12: 'MIDDLE_TIP',
13: 'RING_MCP',
14: 'RING_PIP',
15: 'RING_DIP',
16: 'RING_TIP',
17: 'PINKY_MCP',
18: 'PINKY_PIP',
19: 'PINKY_DIP',
20: 'PINKY_TIP'
}
MEDIAPIPE_LINKS = ((0, 1), (0, 5), (0, 17), (5, 9), (9, 13), (13, 17), (1, 2), (2, 3), (3, 4), (5, 6), (6, 7), (7, 8), (9, 10), (10, 11), (11, 12), (13, 14), (14, 15), (15, 16), (17, 18), (18, 19), (19, 20))
# Helps provide context for the rerun viewer, to visualize the difference between triangulated and optimized hand joints
def set_pose_annotation_context() -> None:
rr.log(
"/",
rr.AnnotationContext(
[
rr.ClassDescription(
info=rr.AnnotationInfo(id=0, label="Triangulated Hand", color=(0, 0, 255)),
keypoint_annotations=[
rr.AnnotationInfo(id=id, label=name) for id, name in MEDIAPIPE_ID2NAME.items()
],
keypoint_connections=MEDIAPIPE_LINKS,
),
]
),
static=True,
)
rr.init("sequence data")
set_pose_annotation_context()
minimal_blueprint = rrb.Blueprint(collapse_panels=True)
rr.log(
"left joints",
rr.Points3D(
np.array(left_joints),
colors=(0, 255, 0),
class_ids=0,
keypoint_ids=MEDIAPIPE_IDS,
show_labels=False,
),
)
rr.notebook_show(width=1000, height=700, blueprint=minimal_blueprint)Expected behavior
Should correctly log keypoint links and id annotation
Screenshots
0.23.1 output
0.22.1 output
Backtrace
Desktop (please complete the following information):
- OS:
pablo@pablo-dl-server:~/0Dev/repos/pi0-lerobot$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 24.04.2 LTS
Release: 24.04
Codename: noble
Rerun version
rerun-cli 0.23.1 (default map_view nasm native_viewer release web_viewer) [rustc 1.84.0 (9fc6b4312 2025-01-07), LLVM 19.1.5] x86_64-unknown-linux-gnu, built 2025-04-26T18:13:37Z
Video features: av1 default ffmpeg nasm serde
Additional context