rerun-nbv-inspector

name	rerun-nbv-inspector
description	Use when creating, reviewing, or fixing ARIA-NBV Rerun integrations for immutable VIN offline-store inspection, NBV candidate/frustum visualization, RRI/validity diagnostics, depth/RGB/keyframe layers, OBB/mesh/trajectory logging, `.rrd` smoke artifacts, or Rerun frame-coordinate issues involving PoseTW, CameraTW, PyTorch3D cameras, and display-only CW90 handling.
metadata	{"mode":"implementation","not_when":["generic Streamlit UI behavior with no Rerun artifact or visual logging path","offline-store data validity before Rerun receives a compatible sample","geometry-frame changes outside the Rerun logging or inspection surface"],"handoff_to":["diagnose-aria for concrete Rerun launch failures or suspicious visual output","dataset-cache-ops for incompatible or invalid offline stores","nbv-geometry-contracts for PoseTW, CameraTW, projection, or CW90 frame issues","aria-litkg-memory for official-doc/API lookup when Rerun behavior is uncertain"],"evidence_required":["focused inspector test, saved .rrd smoke artifact, or exact store incompatibility","entity-path, frame-coordinate, and display-only downsampling evidence","official Rerun/API evidence when changing SDK usage patterns"],"applies_to":["aria_nbv/aria_nbv/app/**","aria_nbv/aria_nbv/rerun_inspector/**","aria_nbv/aria_nbv/**/rerun*.py","docs/reference/**",".agents/skills/rerun-nbv-inspector/**"],"triggers":["Rerun","offline inspector",".rrd","candidate frustum"],"must_read":["AGENTS.md","aria_nbv/AGENTS.md",".agents/skills/rerun-nbv-inspector/references/nbv-inspector-contract.md",".agents/skills/rerun-nbv-inspector/references/context7-queries.md"],"canonical_sources":["aria_nbv/AGENTS.md#core-rules",".agents/skills/rerun-nbv-inspector/references/nbv-inspector-contract.md",".agents/skills/rerun-nbv-inspector/references/context7-queries.md",".agents/skills/rerun-nbv-inspector/references/rerun-python-patterns.md",".agents/references/external_stack_contracts.md"],"context7_refs":["/rerun-io/rerun","/websites/streamlit_io","/facebookresearch/pytorch3d"],"literature_refs":["quality-driven-rri","egocentric-aria-substrate"],"tool_refs":["mcp__MCP_DOCKER.get_library_docs","mcp__MCP_DOCKER.browser_run_code","mcp__code_index.search_code_advanced"],"verification":["focused Rerun inspector tests or smoke command for changed surface"]}

Rerun NBV Inspector

OMX Integration

OMX owns task orchestration; this skill owns ARIA Rerun evidence production. Return the exact inspector command, artifact path, frame/entity evidence, and handoffs for data or geometry blockers.

Overview

Use this skill for ARIA-NBV Rerun work where visual diagnostics must protect data, geometry, and RRI contracts. Treat Rerun as an observer sink for offline samples and rollout diagnostics, not as the owner of scientific semantics.

Start from current official Rerun docs and examples before changing API usage. Use the PRML rerun-slam-integration skill as a pattern source, but keep ARIA-NBV-specific decisions grounded in immutable VIN stores and NBV geometry.

Workflow

1. Load current repo guidance first: AGENTS.md, aria_nbv/AGENTS.md, and aria_nbv/aria_nbv/data_handling/AGENTS.md when the offline store is touched.
2. Query Rerun docs with Context7 library id /rerun-io/rerun; start from references/context7-queries.md and use the smallest relevant query.
3. Read references/rerun-python-patterns.md for recording, entity-tree, camera/depth, transform, and timeline guardrails.
4. Read references/nbv-inspector-contract.md before editing or reviewing ARIA-NBV inspector code, tests, docs, or .configs/rerun_offline.toml.
5. Read references/official-examples-map.md when choosing a Rerun example to compare against.
6. Inspect every touched rr. call site along the logging path, not just the failing sink.
7. For real smoke, prefer a saved .rrd artifact from one sample:

cd aria_nbv
uv run nbv-rerun-inspect --config-path ../.configs/rerun_offline.toml \
  --split val --index 0 --save ../.artifacts/rerun/sample.rrd

If the local store is version-blocked or partial, report the exact store error and run fixture/fake-Rerun tests instead of weakening validation.

Guardrails

• Keep Rerun read-only: never mutate offline-store poses, RRI labels, candidate ordering, validity masks, cached geometry, or training payloads for display.
• Declare one scene basis at the root, normally rr.ViewCoordinates.RIGHT_HAND_Z_UP for ARIA-NBV world-space diagnostics unless the code documents another choice.
• Treat PoseTW candidate poses as T_world_cam and reference rig poses as T_world_rig; do not pass raw matrices across public Rerun helper boundaries.
• Prefer native rr.Transform3D + rr.Pinhole camera entities for candidate cameras when transform direction and camera convention are covered by tests. Keep rr.LineStrips3D for trajectories and selected-view paths.
• Put Pinhole, RGB, and metric DepthImage(..., meter=1.0) on matching camera/image entities when depth is meant for 3D interpretation.
• Keep camera-local points under posed camera entities; keep world-space semidense, fused, mesh, OBB, and trajectory geometry under world-space paths.
• Preserve zero-candidate and all-invalid candidate cases as empty/no-top visual layers; never let padded rows become real candidates.
• Use stable, low-cardinality entity paths for candidate sets; batch frusta, centers, OBBs, and point clouds rather than logging one entity per candidate unless a specific selected candidate needs isolation.
• Treat blueprints as viewer layout only. They must not encode candidate validity, RRI, frame, or dataset semantics.
• Keep downsampling deterministic and display-only.

Review Checklist

• Confirm config-as-factory usage and .configs/rerun_offline.toml stay aligned with RerunOfflineInspectorConfig.
• Confirm required visual inventory failures happen before rr.init, rr.save, rr.spawn, or rr.connect_grpc.
• Confirm candidate count, validity mask, oracle RRI, accuracy/completeness deltas, and frustum labels use the same prefix/order.
• Confirm candidate_count=0 logs no candidates and an all-invalid mask logs no top-oracle frustum.
• Confirm Pinhole.resolution is [width, height], while PyTorch3D image_size remains (height, width).
• Confirm DepthImage layers are either explicit 2D diagnostics or paired with camera pose/intrinsics for 3D interpretation.
• Confirm generated .rrd outputs are smoke artifacts under .artifacts/ or another non-training path.

Verification

Use the narrowest checks that cover the touched surface:

cd aria_nbv
uv run ruff check aria_nbv/rerun_inspector tests/rerun_inspector \
  aria_nbv/data_handling/_offline_visual_inventory.py
uv run pytest tests/rerun_inspector tests/data_handling/test_offline_visual_inventory.py -q

When the store is compatible:

cd aria_nbv
uv run nbv-rerun-inspect --config-path ../.configs/rerun_offline.toml \
  --split val --index 0 --save ../.artifacts/rerun/sample.rrd