rerun-slam-integration

name	rerun-slam-integration
description	Use when creating, reviewing, or fixing Python Rerun integrations for SLAM, RGB-D, reconstruction, and spatial-vision workflows, especially when work involves transforms and frame conventions, pinhole cameras, depth images, point clouds, timelines, blueprints, or comparing a local integration against official Rerun examples or the repo-local ViSTA-SLAM reference.

Rerun SLAM Integration

Use this skill for Python-first Rerun work where spatial semantics matter more than generic visualization advice.

Start from the official Rerun docs and official examples. Use the repo-local ViSTA-SLAM files as a concrete integration case study, not as the universal source of truth.

Workflow

1. Start with the Context7 library ID /rerun-io/rerun.
2. Classify the task before loading more context:
   • API lookup or query planning: read references/context7-queries.md
   • entity layout, transforms, pinhole, depth, or logging best practices: read references/python-sdk-patterns.md
   • example selection: read references/official-examples-map.md
   • local ViSTA comparison: read references/vista-slam-patterns.md
3. Query the smallest relevant Rerun surface first.
4. Verify any non-trivial assumption against current official docs or an official example before recommending a pattern.
5. If the task is repo-local and symptoms look integration-specific, compare the local wrapper against the ViSTA reference after grounding in official Rerun patterns.
6. For repo-local regressions, inspect every touched rr. call site across the full logging path, not just the most obvious sink module.
7. Compare against both the upstream ViSTA reference and the last known good repo-local commit before recommending basis flips, root-world declarations, or other frame-normalization changes.
8. Keep coordinate normalization and method-specific basis handling at explicit method or stage boundaries; do not move viewer-only fixes into the coordinator hot path.
9. If a Context7 MCP server is available in the session, use the /rerun-io/rerun queries from the reference files. If no Context7 MCP is configured, open the direct example page link first and then follow its Python source link as needed.

Reference Map

• references/context7-queries.md
  • Use for ready-to-run Context7 searches on Rerun APIs and examples.
• references/python-sdk-patterns.md
  • Use for the canonical Python SDK integration guidance in SLAM and RGB-D workflows.
• references/official-examples-map.md
  • Use when deciding which official example to open first.
• references/vista-slam-patterns.md
  • Use when comparing a local SLAM integration against the repo-local ViSTA-SLAM reference and the current PRML wrapper.

Helper Scripts

Use the local scripts below before reaching for ad hoc one-off snippets. They are meant to answer exactly the sort of questions that come up when an .rrd looks visually wrong:

• scripts/rrd_entity_inventory.py
  • Fast schema-level inventory of entity paths and component columns in one recording.
• scripts/rrd_component_arrivals.py
  • Targeted dataframe probe for "when does component X first appear on entity Y on timeline Z?"
• scripts/rrd_chunk_order.py
  • Streams rerun rrd print and filters chunk headers by entity substring so you can inspect storage order without decoding everything.
• scripts/run_event_timeline.py
  • Parses the companion summary/run-events.jsonl file to correlate packet ingestion, keyframe acceptance, pose notices, and visualization-ready notices.

Run them with the repo environment, for example:

uv run --extra vista python .agents/skills/rerun-slam-integration/scripts/rrd_entity_inventory.py \
  .artifacts/<run>/visualization/viewer_recording.rrd

uv run --extra vista python .agents/skills/rerun-slam-integration/scripts/rrd_component_arrivals.py \
  .artifacts/<run>/visualization/viewer_recording.rrd \
  --index frame \
  --contents /world/live/model/camera/image \
  --from-seq 300 \
  --to-seq 430 \
  --component-substring ImageBuffer \
  --component-substring Pinhole

uv run --extra vista python .agents/skills/rerun-slam-integration/scripts/run_event_timeline.py \
  .artifacts/<run>/summary/run-events.jsonl \
  --limit 30

Prefer this order on large recordings:

1. rrd_entity_inventory.py to see what exists.
2. run_event_timeline.py to learn when logical events happened.
3. rrd_component_arrivals.py on a narrow entity path and frame window.
4. rrd_chunk_order.py when you suspect append/replay/multi-run storage order issues.

Guardrails

• Prefer official docs and official examples over recollection.
• In this repo, treat Rerun as an observer sink or sidecar, not as a stage or coordinator-owned semantic boundary.
• Treat Transform3D relation semantics as a first-class design choice.
• Keep camera-local geometry and world-space geometry distinct.
• Do not call a pseudo-colored pointmap preview a depth image.
• Do not mix resized images with stale intrinsics or stale depth geometry.
• Use blueprints for viewer layout, not for scientific semantics.