From 59e189d4a546d7fc29f49dbe26d09f8304df7f4e Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Wed, 19 Apr 2023 17:09:41 +0200
Subject: [PATCH 01/19] changelog

---
 CHANGELOG.md | 162 ++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 161 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 1a7093067a19..57865fcbe0e9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,12 +4,172 @@
 ## [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)
+
+#### 🪳 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)
+
+#### 🚀 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)
+
+#### 📚 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 persistant 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)
+
+#### 🎨 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
+- Don't run 3rd party bench suites on CI [#1787](https://github.com/rerun-io/rerun/pull/1787)
+
+#### 🗣 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)
+- 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)
+
+
 ## [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)

From 59c174f8e20d6db9153b636268d33f3bf6c42781 Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Wed, 19 Apr 2023 17:11:14 +0200
Subject: [PATCH 02/19] 0.5.0-alpha.0

---
 Cargo.lock | 70 +++++++++++++++++++++++++++---------------------------
 Cargo.toml | 54 ++++++++++++++++++++---------------------
 2 files changed, 62 insertions(+), 62 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 60f09380c940..c6800487fafc 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -124,7 +124,7 @@ checksum = "216261ddc8289130e551ddcd5ce8a064710c0d064a4d2895c67151c92b5443f6"
 
 [[package]]
 name = "api_demo"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "anyhow",
  "clap 4.1.4",
@@ -1278,7 +1278,7 @@ dependencies = [
 
 [[package]]
 name = "dna"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "itertools",
  "rand",
@@ -2708,7 +2708,7 @@ dependencies = [
 
 [[package]]
 name = "minimal"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "rerun",
 ]
@@ -2721,7 +2721,7 @@ checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
 
 [[package]]
 name = "minimal_options"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "anyhow",
  "clap 4.1.4",
@@ -3134,7 +3134,7 @@ dependencies = [
 
 [[package]]
 name = "objectron"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "anyhow",
  "clap 4.1.4",
@@ -3730,7 +3730,7 @@ dependencies = [
 
 [[package]]
 name = "raw_mesh"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "anyhow",
  "bytes",
@@ -3770,7 +3770,7 @@ dependencies = [
 
 [[package]]
 name = "re_analytics"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "anyhow",
  "crossbeam",
@@ -3791,7 +3791,7 @@ dependencies = [
 
 [[package]]
 name = "re_arrow_store"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "ahash 0.8.2",
  "anyhow",
@@ -3818,7 +3818,7 @@ dependencies = [
 
 [[package]]
 name = "re_build_build_info"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "anyhow",
  "time 0.3.20",
@@ -3826,18 +3826,18 @@ dependencies = [
 
 [[package]]
 name = "re_build_info"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 
 [[package]]
 name = "re_build_web_viewer"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "cargo_metadata",
 ]
 
 [[package]]
 name = "re_data_store"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "ahash 0.8.2",
  "criterion",
@@ -3860,14 +3860,14 @@ dependencies = [
 
 [[package]]
 name = "re_error"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "anyhow",
 ]
 
 [[package]]
 name = "re_format"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "arrow2",
  "arrow2_convert",
@@ -3877,7 +3877,7 @@ dependencies = [
 
 [[package]]
 name = "re_int_histogram"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "criterion",
  "insta",
@@ -3888,7 +3888,7 @@ dependencies = [
 
 [[package]]
 name = "re_log"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "env_logger",
  "js-sys",
@@ -3901,7 +3901,7 @@ dependencies = [
 
 [[package]]
 name = "re_log_encoding"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "criterion",
  "ehttp",
@@ -3926,7 +3926,7 @@ dependencies = [
 
 [[package]]
 name = "re_log_types"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "ahash 0.8.2",
  "array-init",
@@ -3964,7 +3964,7 @@ dependencies = [
 
 [[package]]
 name = "re_memory"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "ahash 0.8.2",
  "backtrace",
@@ -3984,7 +3984,7 @@ dependencies = [
 
 [[package]]
 name = "re_query"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "arrow2",
  "criterion",
@@ -4002,7 +4002,7 @@ dependencies = [
 
 [[package]]
 name = "re_renderer"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "ahash 0.8.2",
  "anyhow",
@@ -4055,7 +4055,7 @@ dependencies = [
 
 [[package]]
 name = "re_sdk"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "arrow2_convert",
  "document-features",
@@ -4075,7 +4075,7 @@ dependencies = [
 
 [[package]]
 name = "re_sdk_comms"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "ahash 0.8.2",
  "anyhow",
@@ -4091,7 +4091,7 @@ dependencies = [
 
 [[package]]
 name = "re_smart_channel"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "crossbeam",
  "instant",
@@ -4099,7 +4099,7 @@ dependencies = [
 
 [[package]]
 name = "re_string_interner"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "ahash 0.8.2",
  "nohash-hasher",
@@ -4110,7 +4110,7 @@ dependencies = [
 
 [[package]]
 name = "re_tensor_ops"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "ahash 0.8.2",
  "ndarray",
@@ -4120,7 +4120,7 @@ dependencies = [
 
 [[package]]
 name = "re_tuid"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "arrow2",
  "arrow2_convert",
@@ -4134,7 +4134,7 @@ dependencies = [
 
 [[package]]
 name = "re_ui"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "eframe",
  "egui",
@@ -4152,7 +4152,7 @@ dependencies = [
 
 [[package]]
 name = "re_viewer"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "ahash 0.8.2",
  "anyhow",
@@ -4212,7 +4212,7 @@ dependencies = [
 
 [[package]]
 name = "re_web_viewer_server"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "cargo_metadata",
  "ctrlc",
@@ -4229,7 +4229,7 @@ dependencies = [
 
 [[package]]
 name = "re_ws_comms"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "anyhow",
  "bincode",
@@ -4301,7 +4301,7 @@ checksum = "f1382d1f0a252c4bf97dc20d979a2fdd05b024acd7c2ed0f7595d7817666a157"
 
 [[package]]
 name = "rerun"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "anyhow",
  "backtrace",
@@ -4333,7 +4333,7 @@ dependencies = [
 
 [[package]]
 name = "rerun_py"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "arrow2",
  "document-features",
@@ -4437,7 +4437,7 @@ dependencies = [
 
 [[package]]
 name = "run_wasm"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "cargo-run-wasm",
  "pico-args",
@@ -4991,7 +4991,7 @@ dependencies = [
 
 [[package]]
 name = "test_image_memory"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 dependencies = [
  "mimalloc",
  "re_format",
diff --git a/Cargo.toml b/Cargo.toml
index ca517c5fe998..983336ab949a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -16,39 +16,39 @@ include = ["../../LICENSE-APACHE", "../../LICENSE-MIT", "**/*.rs", "Cargo.toml"]
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/rerun-io/rerun"
 rust-version = "1.67"
-version = "0.4.0"
+version = "0.5.0-alpha.0"
 
 [workspace.dependencies]
 # When using alpha-release, always use exact version, e.g. `version = "=0.x.y-alpha.z"
 # This is because we treat alpha-releases as incompatible, but semver doesn't.
 # In particular: if we compile rerun 0.3.0-alpha.0 we only want it to use
 # re_log_types 0.3.0-alpha.0, NOT 0.3.0-alpha.4 even though it is newer and semver-compatible.
-re_analytics = { path = "crates/re_analytics", version = "0.4.0" }
-re_arrow_store = { path = "crates/re_arrow_store", version = "0.4.0" }
-re_build_build_info = { path = "crates/re_build_build_info", version = "0.4.0" }
-re_build_info = { path = "crates/re_build_info", version = "0.4.0" }
-re_build_web_viewer = { path = "crates/re_build_web_viewer", version = "0.4.0" }
-re_data_store = { path = "crates/re_data_store", version = "0.4.0" }
-re_error = { path = "crates/re_error", version = "0.4.0" }
-re_format = { path = "crates/re_format", version = "0.4.0" }
-re_int_histogram = { path = "crates/re_int_histogram", version = "0.4.0" }
-re_log = { path = "crates/re_log", version = "0.4.0" }
-re_log_encoding = { path = "crates/re_log_encoding", version = "0.4.0" }
-re_log_types = { path = "crates/re_log_types", version = "0.4.0" }
-re_memory = { path = "crates/re_memory", version = "0.4.0" }
-re_query = { path = "crates/re_query", version = "0.4.0" }
-re_renderer = { path = "crates/re_renderer", version = "0.4.0" }
-re_sdk = { path = "crates/re_sdk", version = "0.4.0" }
-re_sdk_comms = { path = "crates/re_sdk_comms", version = "0.4.0" }
-re_smart_channel = { path = "crates/re_smart_channel", version = "0.4.0" }
-re_string_interner = { path = "crates/re_string_interner", version = "0.4.0" }
-re_tensor_ops = { path = "crates/re_tensor_ops", version = "0.4.0" }
-re_tuid = { path = "crates/re_tuid", version = "0.4.0" }
-re_ui = { path = "crates/re_ui", version = "0.4.0" }
-re_viewer = { path = "crates/re_viewer", version = "0.4.0" }
-re_web_viewer_server = { path = "crates/re_web_viewer_server", version = "0.4.0" }
-re_ws_comms = { path = "crates/re_ws_comms", version = "0.4.0" }
-rerun = { path = "crates/rerun", version = "0.4.0" }
+re_analytics = { path = "crates/re_analytics", version = "0.5.0-alpha.0" }
+re_arrow_store = { path = "crates/re_arrow_store", version = "0.5.0-alpha.0" }
+re_build_build_info = { path = "crates/re_build_build_info", version = "0.5.0-alpha.0" }
+re_build_info = { path = "crates/re_build_info", version = "0.5.0-alpha.0" }
+re_build_web_viewer = { path = "crates/re_build_web_viewer", version = "0.5.0-alpha.0" }
+re_data_store = { path = "crates/re_data_store", version = "0.5.0-alpha.0" }
+re_error = { path = "crates/re_error", version = "0.5.0-alpha.0" }
+re_format = { path = "crates/re_format", version = "0.5.0-alpha.0" }
+re_int_histogram = { path = "crates/re_int_histogram", version = "0.5.0-alpha.0" }
+re_log = { path = "crates/re_log", version = "0.5.0-alpha.0" }
+re_log_encoding = { path = "crates/re_log_encoding", version = "0.5.0-alpha.0" }
+re_log_types = { path = "crates/re_log_types", version = "0.5.0-alpha.0" }
+re_memory = { path = "crates/re_memory", version = "0.5.0-alpha.0" }
+re_query = { path = "crates/re_query", version = "0.5.0-alpha.0" }
+re_renderer = { path = "crates/re_renderer", version = "0.5.0-alpha.0" }
+re_sdk = { path = "crates/re_sdk", version = "0.5.0-alpha.0" }
+re_sdk_comms = { path = "crates/re_sdk_comms", version = "0.5.0-alpha.0" }
+re_smart_channel = { path = "crates/re_smart_channel", version = "0.5.0-alpha.0" }
+re_string_interner = { path = "crates/re_string_interner", version = "0.5.0-alpha.0" }
+re_tensor_ops = { path = "crates/re_tensor_ops", version = "0.5.0-alpha.0" }
+re_tuid = { path = "crates/re_tuid", version = "0.5.0-alpha.0" }
+re_ui = { path = "crates/re_ui", version = "0.5.0-alpha.0" }
+re_viewer = { path = "crates/re_viewer", version = "0.5.0-alpha.0" }
+re_web_viewer_server = { path = "crates/re_web_viewer_server", version = "0.5.0-alpha.0" }
+re_ws_comms = { path = "crates/re_ws_comms", version = "0.5.0-alpha.0" }
+rerun = { path = "crates/rerun", version = "0.5.0-alpha.0" }
 
 ahash = "0.8"
 anyhow = "1.0"

From 91621538d92e126da3a261738e61fe655457520f Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Wed, 19 Apr 2023 17:33:15 +0200
Subject: [PATCH 03/19] more changelog

---
 CHANGELOG.md | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 57865fcbe0e9..5b1fcb5e4d67 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -90,7 +90,7 @@ This new release adds MVP support for embedding Rerun in Jupyter notebooks, and
 - 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 persistant storage [#1825](https://github.com/rerun-io/rerun/pull/1825)
+- 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)
 
@@ -134,7 +134,6 @@ This new release adds MVP support for embedding Rerun in Jupyter notebooks, and
 - Incremental metadata registry stats [#1833](https://github.com/rerun-io/rerun/pull/1833)
 
 #### ✨ Other Enhancement
-- Don't run 3rd party bench suites on CI [#1787](https://github.com/rerun-io/rerun/pull/1787)
 
 #### 🗣 Merged RFCs
 - RFC: datastore state of the union & end-to-end batching  [#1610](https://github.com/rerun-io/rerun/pull/1610)
@@ -159,10 +158,13 @@ This new release adds MVP support for embedding Rerun in Jupyter notebooks, and
 
 #### 🤷‍♂️ 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
 

From e2fa88e58d4176777c858d0c3ea707849d953033 Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Wed, 19 Apr 2023 17:54:16 +0200
Subject: [PATCH 04/19] re_format: fix implicit recursive feature flags

---
 crates/re_format/Cargo.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/re_format/Cargo.toml b/crates/re_format/Cargo.toml
index 198768511bc0..b502f8f6eb4e 100644
--- a/crates/re_format/Cargo.toml
+++ b/crates/re_format/Cargo.toml
@@ -19,4 +19,4 @@ all-features = true
 arrow2.workspace = true
 arrow2_convert.workspace = true
 comfy-table.workspace = true
-re_tuid.workspace = true
+re_tuid = { workspace = true, features = ["arrow2_convert"] }

From 687a9825a9d3f53b7789b0a9359b6520b0c6a61a Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Wed, 19 Apr 2023 18:04:04 +0200
Subject: [PATCH 05/19] publish_crates.sh: fix crate ordering

---
 scripts/publish_crates.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/publish_crates.sh b/scripts/publish_crates.sh
index 1c52ca6cc140..7a52ccf5e012 100755
--- a/scripts/publish_crates.sh
+++ b/scripts/publish_crates.sh
@@ -95,11 +95,11 @@ cargo publish $FLAGS -p re_build_build_info
 cargo publish $FLAGS -p re_log
 cargo publish $FLAGS -p re_int_histogram
 cargo publish $FLAGS -p re_error
+cargo publish $FLAGS -p re_tuid
 cargo publish $FLAGS -p re_format
 cargo publish $FLAGS -p re_string_interner
 cargo publish $FLAGS -p re_analytics
 cargo publish $FLAGS -p re_memory
-cargo publish $FLAGS -p re_tuid
 cargo publish $FLAGS -p re_log_types
 cargo publish $FLAGS -p re_smart_channel
 cargo publish $FLAGS -p re_log_encoding

From ccf376f929d865b50ebeb91b731f52a51bb74db5 Mon Sep 17 00:00:00 2001
From: Jeremy Leibs <jeremy@rerun.io>
Date: Wed, 19 Apr 2023 12:38:28 -0400
Subject: [PATCH 06/19] Join threads at end of multi-threading example (#1934)

---
 examples/python/multithreading/main.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/examples/python/multithreading/main.py b/examples/python/multithreading/main.py
index 35c1a674ed71..61244e1722b3 100755
--- a/examples/python/multithreading/main.py
+++ b/examples/python/multithreading/main.py
@@ -27,11 +27,16 @@ def main() -> None:
 
     rr.script_setup(args, "multithreading")
 
+    threads = []
     for i in range(10):
         t = threading.Thread(
             target=rect_logger, args=("thread/{}".format(i), [random.randrange(255) for _ in range(3)])
         )
         t.start()
+        threads.append(t)
+
+    for t in threads:
+        t.join()
 
     rr.script_teardown(args)
 

From 1af508002e4117cff12e90e8a3c11cb219daa31b Mon Sep 17 00:00:00 2001
From: Jeremy Leibs <jeremy@rerun.io>
Date: Wed, 19 Apr 2023 16:12:29 -0400
Subject: [PATCH 07/19] Add argument parsing to the rerun_demo (#1925)

---
 rerun_py/rerun_sdk/rerun_demo/__main__.py | 34 ++++++++++++++++++-----
 1 file changed, 27 insertions(+), 7 deletions(-)

diff --git a/rerun_py/rerun_sdk/rerun_demo/__main__.py b/rerun_py/rerun_sdk/rerun_demo/__main__.py
index ce5a5b34fdf4..dcb58f23d1ef 100644
--- a/rerun_py/rerun_sdk/rerun_demo/__main__.py
+++ b/rerun_py/rerun_sdk/rerun_demo/__main__.py
@@ -5,15 +5,16 @@
 import sys
 
 
-def run_cube():
+def run_cube(args: argparse.Namespace):
     import math
 
     import numpy as np
     import rerun as rr
 
-    rr.init("Cube", spawn=True, default_enabled=True)
     from rerun_demo.data import build_color_grid
 
+    rr.script_setup(args, "Cube")
+
     STEPS = 100
     twists = math.pi * np.sin(np.linspace(0, math.tau, STEPS)) / 4
     for t in range(STEPS):
@@ -21,10 +22,25 @@ def run_cube():
         cube = build_color_grid(10, 10, 10, twist=twists[t])
         rr.log_points("cube", positions=cube.positions, colors=cube.colors, radii=0.5)
 
+    rr.script_teardown(args)
+
 
-def run_colmap():
+def run_colmap(args):
     from rerun import bindings, unregister_shutdown  # type: ignore[attr-defined]
 
+    serve_opts = []
+
+    # TODO(https://github.com/rerun-io/rerun/issues/1924): The need to special-case
+    # this flag conversion is a bit awkward.
+    if args.connect or args.addr:
+        print("Connecting to external viewer is only supported with the --cube demo.", file=sys.stderr)
+        exit(1)
+    if args.save:
+        print("Saving an RRD file is only supported from the --cube demo.", file=sys.stderr)
+        exit(1)
+    if args.serve:
+        serve_opts.append("--web-viewer")
+
     # We don't need to call shutdown in this case. Rust should be handling everything
     unregister_shutdown()
 
@@ -33,11 +49,13 @@ def run_colmap():
         print("No demo file found at {}. Package was built without demo support".format(rrd_file), file=sys.stderr)
         exit(1)
     else:
-        exit(bindings.main([sys.argv[0], str(rrd_file)]))
+        exit(bindings.main([sys.argv[0], str(rrd_file)] + serve_opts))
 
 
 def main() -> None:
-    parser = argparse.ArgumentParser(description="Run rerun example programs")
+    import rerun as rr
+
+    parser = argparse.ArgumentParser(description="Run rerun example programs.")
 
     group = parser.add_mutually_exclusive_group()
 
@@ -53,16 +71,18 @@ def main() -> None:
         help="Run the COLMAP data demo",
     )
 
+    rr.script_add_args(parser)
+
     args = parser.parse_args()
 
     if not any([args.cube, args.colmap]):
         args.cube = True
 
     if args.cube:
-        run_cube()
+        run_cube(args)
 
     elif args.colmap:
-        run_colmap()
+        run_colmap(args)
 
 
 if __name__ == "__main__":

From b0d986a5ec7fbe79cfe34c7af75695da10fc5ffe Mon Sep 17 00:00:00 2001
From: Jeremy Leibs <jeremy@rerun.io>
Date: Thu, 20 Apr 2023 02:58:57 -0400
Subject: [PATCH 08/19] More robust wait for exit condition during .serve()
 (#1939)

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

* lint
---
 rerun_py/rerun_sdk/rerun/script_helpers.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/rerun_py/rerun_sdk/rerun/script_helpers.py b/rerun_py/rerun_sdk/rerun/script_helpers.py
index 8b59133dd090..3504d9d74593 100644
--- a/rerun_py/rerun_sdk/rerun/script_helpers.py
+++ b/rerun_py/rerun_sdk/rerun/script_helpers.py
@@ -91,10 +91,10 @@ def script_teardown(args: Namespace) -> None:
 
     """
     if args.serve:
-        import signal
-        from threading import Event
+        import time
 
-        exit = Event()
-        signal.signal(signal.SIGINT, lambda sig, frame: exit.set())
-        print("Sleeping while serving the web viewer. Abort with Ctrl-C")
-        exit.wait()
+        try:
+            while True:
+                time.sleep(1)
+        except KeyboardInterrupt:
+            print("Ctrl-C received. Exiting.")

From acf1c29f22069c5734fa8bc28c839965680c5503 Mon Sep 17 00:00:00 2001
From: Andreas Reich <andreas@rerun.io>
Date: Thu, 20 Apr 2023 09:00:26 +0200
Subject: [PATCH 09/19] 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 <niko@rerun.io>
---
 examples/python/arkitscenes/download_dataset.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/examples/python/arkitscenes/download_dataset.py b/examples/python/arkitscenes/download_dataset.py
index d2f5e2cbe62a..cc2e59d2cc5d 100644
--- a/examples/python/arkitscenes/download_dataset.py
+++ b/examples/python/arkitscenes/download_dataset.py
@@ -3,6 +3,7 @@
 import math
 import os
 import subprocess
+import zipfile
 from pathlib import Path
 from typing import Final, List, Optional
 
@@ -121,9 +122,9 @@ def download_file(url: str, file_name: str, dst: Path) -> bool:
 def unzip_file(file_name: str, dst: Path, keep_zip: bool = True) -> bool:
     filepath = os.path.join(dst, file_name)
     print(f"Unzipping zip file {filepath}")
-    command = f"unzip -oq {filepath} -d {dst}"
     try:
-        subprocess.check_call(command, shell=True)
+        with zipfile.ZipFile(filepath, "r") as zip_ref:
+            zip_ref.extractall(dst)
     except Exception as error:
         print(f"Error unzipping {filepath}, error: {error}")
         return False

From 45c11bc81504d192634d463240a4a51cb4f6abf5 Mon Sep 17 00:00:00 2001
From: Andreas Reich <andreas@rerun.io>
Date: Thu, 20 Apr 2023 09:02:28 +0200
Subject: [PATCH 10/19] 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
---
 crates/re_renderer/src/renderer/rectangles.rs |  6 +-
 .../src/ui/view_spatial/scene/mod.rs          | 17 ++--
 .../src/ui/view_spatial/scene/picking.rs      | 28 ++-----
 .../src/ui/view_spatial/scene/primitives.rs   | 22 ++----
 .../view_spatial/scene/scene_part/images.rs   | 79 ++++++++++---------
 crates/re_viewer/src/ui/view_spatial/ui.rs    |  6 +-
 .../src/ui/view_spatial/ui_renderer_bridge.rs |  6 +-
 7 files changed, 73 insertions(+), 91 deletions(-)

diff --git a/crates/re_renderer/src/renderer/rectangles.rs b/crates/re_renderer/src/renderer/rectangles.rs
index 799655ecf78c..f138f566b17e 100644
--- a/crates/re_renderer/src/renderer/rectangles.rs
+++ b/crates/re_renderer/src/renderer/rectangles.rs
@@ -33,7 +33,7 @@ use super::{
 };
 
 /// Texture filter setting for magnification (a texel covers several pixels).
-#[derive(Debug)]
+#[derive(Debug, Clone, Copy)]
 pub enum TextureFilterMag {
     Linear,
     Nearest,
@@ -41,7 +41,7 @@ pub enum TextureFilterMag {
 }
 
 /// Texture filter setting for minification (several texels fall to one pixel).
-#[derive(Debug)]
+#[derive(Debug, Clone, Copy)]
 pub enum TextureFilterMin {
     Linear,
     Nearest,
@@ -98,6 +98,7 @@ impl ColormappedTexture {
     }
 }
 
+#[derive(Clone)]
 pub struct TexturedRect {
     /// Top left corner position in world space.
     pub top_left_corner_position: glam::Vec3,
@@ -114,6 +115,7 @@ pub struct TexturedRect {
     pub options: RectangleOptions,
 }
 
+#[derive(Clone)]
 pub struct RectangleOptions {
     pub texture_filter_magnification: TextureFilterMag,
     pub texture_filter_minification: TextureFilterMin,
diff --git a/crates/re_viewer/src/ui/view_spatial/scene/mod.rs b/crates/re_viewer/src/ui/view_spatial/scene/mod.rs
index 0afad5c77dd3..8bb3c28e9010 100644
--- a/crates/re_viewer/src/ui/view_spatial/scene/mod.rs
+++ b/crates/re_viewer/src/ui/view_spatial/scene/mod.rs
@@ -7,7 +7,7 @@ use re_log_types::{
     component_types::{ClassId, InstanceKey, KeypointId},
     DecodedTensor, MeshId,
 };
-use re_renderer::{Color32, OutlineMaskPreference, Size};
+use re_renderer::{renderer::TexturedRect, Color32, OutlineMaskPreference, Size};
 
 use crate::{
     misc::{mesh_loader::LoadedMesh, SpaceViewHighlights, TransformCache, ViewerContext},
@@ -63,15 +63,11 @@ pub struct Image {
 
     pub tensor: DecodedTensor,
 
-    /// If this is a depth map, how long is a meter?
-    ///
-    /// For example, with a `u16` dtype one might have
-    /// `meter == 1000.0` for millimeter precision
-    /// up to a ~65m range.
-    pub meter: Option<f32>,
-
     /// A thing that provides additional semantic context for your dtype.
     pub annotations: Arc<Annotations>,
+
+    /// Textured rectangle for the renderer.
+    pub textured_rect: TexturedRect,
 }
 
 pub enum UiLabelTarget {
@@ -104,9 +100,6 @@ pub struct SceneSpatialUiData {
     /// Picking any any of these rects cause the referred instance to be hovered.
     /// Only use this for 2d overlays!
     pub pickable_ui_rects: Vec<(egui::Rect, InstancePathHash)>,
-
-    /// Images are a special case of rects where we're storing some extra information to allow miniature previews etc.
-    pub images: Vec<Image>,
 }
 
 pub struct SceneSpatial {
@@ -231,7 +224,7 @@ impl SceneSpatial {
             return SpatialNavigationMode::ThreeD;
         }
 
-        if !self.ui.images.is_empty() {
+        if !self.primitives.images.is_empty() {
             return SpatialNavigationMode::TwoD;
         }
         if self.num_logged_3d_objects == 0 {
diff --git a/crates/re_viewer/src/ui/view_spatial/scene/picking.rs b/crates/re_viewer/src/ui/view_spatial/scene/picking.rs
index ddf73c2fdfbf..8d8325fdff1a 100644
--- a/crates/re_viewer/src/ui/view_spatial/scene/picking.rs
+++ b/crates/re_viewer/src/ui/view_spatial/scene/picking.rs
@@ -2,10 +2,10 @@
 
 use ahash::HashSet;
 use re_data_store::InstancePathHash;
-use re_log_types::{component_types::InstanceKey, EntityPathHash};
+use re_log_types::component_types::InstanceKey;
 use re_renderer::PickingLayerProcessor;
 
-use super::{SceneSpatialPrimitives, SceneSpatialUiData};
+use super::{Image, SceneSpatialPrimitives, SceneSpatialUiData};
 use crate::{
     misc::instance_hash_conversions::instance_path_hash_from_picking_layer_id,
     ui::view_spatial::eye::Eye,
@@ -116,11 +116,7 @@ impl PickingContext {
             self,
             previous_picking_result,
         );
-        let mut rect_hits = picking_textured_rects(
-            self,
-            &primitives.textured_rectangles,
-            &primitives.textured_rectangles_ids,
-        );
+        let mut rect_hits = picking_textured_rects(self, &primitives.images);
         rect_hits.sort_by(|a, b| b.depth_offset.cmp(&a.depth_offset));
         let ui_rect_hits = picking_ui_rects(self, ui_data);
 
@@ -241,23 +237,13 @@ fn picking_gpu(
     }
 }
 
-fn picking_textured_rects(
-    context: &PickingContext,
-    textured_rectangles: &[re_renderer::renderer::TexturedRect],
-    textured_rectangles_ids: &[EntityPathHash],
-) -> Vec<PickingRayHit> {
+fn picking_textured_rects(context: &PickingContext, images: &[Image]) -> Vec<PickingRayHit> {
     crate::profile_function!();
 
     let mut hits = Vec::new();
 
-    for (rect, id) in textured_rectangles
-        .iter()
-        .zip(textured_rectangles_ids.iter())
-    {
-        if !id.is_some() {
-            continue;
-        }
-
+    for image in images {
+        let rect = &image.textured_rect;
         let rect_plane = macaw::Plane3::from_normal_point(
             rect.extent_u.cross(rect.extent_v).normalize(),
             rect.top_left_corner_position,
@@ -277,7 +263,7 @@ fn picking_textured_rects(
         if (0.0..=1.0).contains(&u) && (0.0..=1.0).contains(&v) {
             hits.push(PickingRayHit {
                 instance_path_hash: InstancePathHash {
-                    entity_path_hash: *id,
+                    entity_path_hash: image.ent_path.hash(),
                     instance_key: InstanceKey::from_2d_image_coordinate(
                         [
                             (u * rect.colormapped_texture.texture.width() as f32) as u32,
diff --git a/crates/re_viewer/src/ui/view_spatial/scene/primitives.rs b/crates/re_viewer/src/ui/view_spatial/scene/primitives.rs
index 392f0bde4fa1..407d1eec47fa 100644
--- a/crates/re_viewer/src/ui/view_spatial/scene/primitives.rs
+++ b/crates/re_viewer/src/ui/view_spatial/scene/primitives.rs
@@ -1,6 +1,6 @@
 use egui::Color32;
 use re_data_store::EntityPath;
-use re_log_types::{component_types::InstanceKey, EntityPathHash};
+use re_log_types::component_types::InstanceKey;
 use re_renderer::{
     renderer::{DepthClouds, MeshInstance},
     LineStripSeriesBuilder, PointCloudBuilder,
@@ -20,11 +20,7 @@ pub struct SceneSpatialPrimitives {
     /// Estimated bounding box of all data in scene coordinates. Accumulated.
     pub(super) bounding_box: macaw::BoundingBox,
 
-    // TODO(andreas): Storing extra data like so is unsafe and not future proof either
-    //                (see also above comment on the need to separate cpu-readable data)
-    pub textured_rectangles_ids: Vec<EntityPathHash>,
-    pub textured_rectangles: Vec<re_renderer::renderer::TexturedRect>,
-
+    pub images: Vec<super::Image>,
     pub line_strips: LineStripSeriesBuilder,
     pub points: PointCloudBuilder,
     pub meshes: Vec<MeshSource>,
@@ -44,8 +40,7 @@ impl SceneSpatialPrimitives {
     pub fn new(re_ctx: &mut re_renderer::RenderContext) -> Self {
         Self {
             bounding_box: macaw::BoundingBox::nothing(),
-            textured_rectangles_ids: Default::default(),
-            textured_rectangles: Default::default(),
+            images: Default::default(),
             line_strips: LineStripSeriesBuilder::new(re_ctx)
                 .radius_boost_in_ui_points_for_outlines(SIZE_BOOST_IN_POINTS_FOR_LINE_OUTLINES),
             points: PointCloudBuilder::new(re_ctx)
@@ -68,8 +63,7 @@ impl SceneSpatialPrimitives {
     pub fn num_primitives(&self) -> usize {
         let Self {
             bounding_box: _,
-            textured_rectangles,
-            textured_rectangles_ids: _,
+            images,
             line_strips,
             points,
             meshes,
@@ -77,7 +71,7 @@ impl SceneSpatialPrimitives {
             any_outlines: _,
         } = &self;
 
-        textured_rectangles.len()
+        images.len()
             + line_strips.vertices.len()
             + points.vertices.len()
             + meshes.len()
@@ -89,8 +83,7 @@ impl SceneSpatialPrimitives {
 
         let Self {
             bounding_box,
-            textured_rectangles_ids: _,
-            textured_rectangles,
+            images,
             line_strips,
             points,
             meshes,
@@ -100,7 +93,8 @@ impl SceneSpatialPrimitives {
 
         *bounding_box = macaw::BoundingBox::nothing();
 
-        for rect in textured_rectangles {
+        for image in images {
+            let rect = &image.textured_rect;
             bounding_box.extend(rect.top_left_corner_position);
             bounding_box.extend(rect.top_left_corner_position + rect.extent_u);
             bounding_box.extend(rect.top_left_corner_position + rect.extent_v);
diff --git a/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs b/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs
index 17821d2f475e..f86dc4538777 100644
--- a/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs
+++ b/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs
@@ -25,9 +25,7 @@ use crate::{
 
 use super::ScenePart;
 
-#[allow(clippy::too_many_arguments)]
-fn push_tensor_texture(
-    scene: &mut SceneSpatial,
+fn to_textured_rect(
     ctx: &mut ViewerContext<'_>,
     annotations: &Annotations,
     world_from_obj: glam::Mat4,
@@ -35,10 +33,10 @@ fn push_tensor_texture(
     tensor: &DecodedTensor,
     multiplicative_tint: egui::Rgba,
     outline_mask: OutlineMaskPreference,
-) {
+) -> Option<re_renderer::renderer::TexturedRect> {
     crate::profile_function!();
 
-    let Some([height, width, _]) = tensor.image_height_width_channels() else { return; };
+    let Some([height, width, _]) = tensor.image_height_width_channels() else { return None; };
 
     let debug_name = ent_path.to_string();
     let tensor_stats = ctx.cache.tensor_stats(tensor);
@@ -68,7 +66,7 @@ fn push_tensor_texture(
                 re_renderer::renderer::TextureFilterMin::Linear
             };
 
-            let textured_rect = re_renderer::renderer::TexturedRect {
+            Some(re_renderer::renderer::TexturedRect {
                 top_left_corner_position: world_from_obj.transform_point3(glam::Vec3::ZERO),
                 extent_u: world_from_obj.transform_vector3(glam::Vec3::X * width as f32),
                 extent_v: world_from_obj.transform_vector3(glam::Vec3::Y * height as f32),
@@ -80,15 +78,11 @@ fn push_tensor_texture(
                     depth_offset: -1, // Push to background. Mostly important for mouse picking order!
                     outline_mask,
                 },
-            };
-            scene.primitives.textured_rectangles.push(textured_rect);
-            scene
-                .primitives
-                .textured_rectangles_ids
-                .push(ent_path.hash());
+            })
         }
         Err(err) => {
             re_log::error_once!("Failed to create texture from tensor for {debug_name:?}: {err}");
+            None
         }
     }
 }
@@ -99,15 +93,17 @@ fn handle_image_layering(scene: &mut SceneSpatial) {
     // Handle layered rectangles that are on (roughly) the same plane and were logged in sequence.
     // First, group by similar plane.
     // TODO(andreas): Need planes later for picking as well!
-    let rects_grouped_by_plane = {
+    let images_grouped_by_plane = {
         let mut cur_plane = macaw::Plane3::from_normal_dist(Vec3::NAN, std::f32::NAN);
         let mut rectangle_group = Vec::new();
         scene
             .primitives
-            .textured_rectangles
-            .iter_mut()
+            .images
+            .drain(..) // We rebuild the list as we might reorder as well!
             .batching(move |it| {
-                for rect in it.by_ref() {
+                for image in it {
+                    let rect = &image.textured_rect;
+
                     let prev_plane = cur_plane;
                     cur_plane = macaw::Plane3::from_normal_point(
                         rect.extent_u.cross(rect.extent_v).normalize(),
@@ -119,10 +115,10 @@ fn handle_image_layering(scene: &mut SceneSpatial) {
                         && prev_plane.normal.dot(cur_plane.normal) < 0.99
                         && (prev_plane.d - cur_plane.d) < 0.01
                     {
-                        let previous_group = std::mem::replace(&mut rectangle_group, vec![rect]);
+                        let previous_group = std::mem::replace(&mut rectangle_group, vec![image]);
                         return Some(previous_group);
                     }
-                    rectangle_group.push(rect);
+                    rectangle_group.push(image);
                 }
                 if !rectangle_group.is_empty() {
                     Some(rectangle_group.drain(..).collect())
@@ -130,14 +126,19 @@ fn handle_image_layering(scene: &mut SceneSpatial) {
                     None
                 }
             })
-    };
-    // Then, change opacity & transformation for planes within group except the base plane.
-    for mut grouped_rects in rects_grouped_by_plane {
-        let total_num_images = grouped_rects.len();
-        for (idx, rect) in grouped_rects.iter_mut().enumerate() {
+    }
+    .collect_vec();
+
+    // Then, for each planar group do resorting and change transparency.
+    for mut grouped_images in images_grouped_by_plane {
+        // Class id images should generally come last as they typically have large areas being zeroed out (which maps to fully transparent).
+        grouped_images.sort_by_key(|image| image.tensor.meaning == TensorDataMeaning::ClassId);
+
+        let total_num_images = grouped_images.len();
+        for (idx, image) in grouped_images.iter_mut().enumerate() {
             // Set depth offset for correct order and avoid z fighting when there is a 3d camera.
             // Keep behind depth offset 0 for correct picking order.
-            rect.options.depth_offset =
+            image.textured_rect.options.depth_offset =
                 (idx as isize - total_num_images as isize) as re_renderer::DepthOffset;
 
             // make top images transparent
@@ -146,8 +147,14 @@ fn handle_image_layering(scene: &mut SceneSpatial) {
             } else {
                 1.0 / total_num_images.at_most(20) as f32
             }; // avoid precision problems in framebuffer
-            rect.options.multiplicative_tint = rect.options.multiplicative_tint.multiply(opacity);
+            image.textured_rect.options.multiplicative_tint = image
+                .textured_rect
+                .options
+                .multiplicative_tint
+                .multiply(opacity);
         }
+
+        scene.primitives.images.extend(grouped_images);
     }
 }
 
@@ -190,16 +197,6 @@ impl ImagesPart {
             };
 
             let annotations = scene.annotation_map.find(ent_path);
-
-            // TODO(jleibs): Meter should really be its own component
-            let meter = tensor.meter;
-            scene.ui.images.push(Image {
-                ent_path: ent_path.clone(),
-                tensor: tensor.clone(),
-                meter,
-                annotations: annotations.clone(),
-            });
-
             let entity_highlight = highlights.entity_outline_mask(ent_path.hash());
 
             if *properties.backproject_depth.get() && tensor.meaning == TensorDataMeaning::Depth {
@@ -234,8 +231,7 @@ impl ImagesPart {
                 DefaultColor::OpaqueWhite,
             );
 
-            push_tensor_texture(
-                scene,
+            if let Some(textured_rect) = to_textured_rect(
                 ctx,
                 &annotations,
                 world_from_obj,
@@ -243,7 +239,14 @@ impl ImagesPart {
                 &tensor,
                 color.into(),
                 entity_highlight.overall,
-            );
+            ) {
+                scene.primitives.images.push(Image {
+                    ent_path: ent_path.clone(),
+                    tensor,
+                    annotations,
+                    textured_rect,
+                });
+            }
         }
 
         Ok(())
diff --git a/crates/re_viewer/src/ui/view_spatial/ui.rs b/crates/re_viewer/src/ui/view_spatial/ui.rs
index 49209bb1b32e..da463eaa588b 100644
--- a/crates/re_viewer/src/ui/view_spatial/ui.rs
+++ b/crates/re_viewer/src/ui/view_spatial/ui.rs
@@ -755,7 +755,7 @@ pub fn picking(
             || *ent_properties.backproject_depth.get()
         {
             scene
-                .ui
+                .primitives
                 .images
                 .iter()
                 .find(|image| image.ent_path == instance_path.entity_path)
@@ -790,7 +790,7 @@ pub fn picking(
         ));
 
         response = if let Some((image, coords)) = picked_image_with_coords {
-            if let Some(meter) = image.meter {
+            if let Some(meter) = image.tensor.meter {
                 if let Some(raw_value) = image.tensor.get(&[
                     picking_context.pointer_in_space2d.y.round() as _,
                     picking_context.pointer_in_space2d.x.round() as _,
@@ -840,7 +840,7 @@ pub fn picking(
                                     &image.tensor,
                                     &tensor_stats,
                                     &image.annotations,
-                                    image.meter,
+                                    image.tensor.meter,
                                     &debug_name,
                                     [coords[0] as _, coords[1] as _],
                                 );
diff --git a/crates/re_viewer/src/ui/view_spatial/ui_renderer_bridge.rs b/crates/re_viewer/src/ui/view_spatial/ui_renderer_bridge.rs
index 513abdf82430..e02885290f73 100644
--- a/crates/re_viewer/src/ui/view_spatial/ui_renderer_bridge.rs
+++ b/crates/re_viewer/src/ui/view_spatial/ui_renderer_bridge.rs
@@ -32,7 +32,11 @@ pub fn fill_view_builder(
         .queue_draw(&primitives.points.to_draw_data(render_ctx)?)
         .queue_draw(&RectangleDrawData::new(
             render_ctx,
-            &primitives.textured_rectangles,
+            &primitives
+                .images
+                .iter()
+                .map(|image| image.textured_rect.clone())
+                .collect::<Vec<_>>(),
         )?);
 
     if matches!(background, ScreenBackground::GenericSkybox) {

From 71a882bb05dbc40aadd7086e98523ada4e516404 Mon Sep 17 00:00:00 2001
From: Andreas Reich <andreas@rerun.io>
Date: Thu, 20 Apr 2023 09:02:55 +0200
Subject: [PATCH 11/19] Fix backslashes in arkitscene rigid transformation path
 (#1938)

* Fix backslashes in arkitscene rigid transformation path
Should be fixed properly by https://github.com/rerun-io/rerun/issues/1937

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

---------

Co-authored-by: Nikolaus West <niko@rerun.io>
---
 examples/python/arkitscenes/main.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/python/arkitscenes/main.py b/examples/python/arkitscenes/main.py
index 9b9e00632539..b90ec3e0c70a 100755
--- a/examples/python/arkitscenes/main.py
+++ b/examples/python/arkitscenes/main.py
@@ -2,7 +2,7 @@
 import argparse
 import json
 import os
-from pathlib import Path
+from pathlib import Path, PosixPath
 from typing import Any, Dict, List, Tuple
 
 import cv2
@@ -251,7 +251,7 @@ def log_camera(
 
     rr.log_rigid3(
         # pathlib makes it easy to get the parent, but log_rigid requires a string
-        str(Path(entity_id).parent),
+        str(PosixPath(entity_id).parent),
         child_from_parent=camera_from_world,
         xyz="RDF",  # X=Right, Y=Down, Z=Forward
     )

From 369084a2b4971fa6d8a91d5fda3902204971aab2 Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Thu, 20 Apr 2023 09:14:48 +0200
Subject: [PATCH 12/19] changelog

---
 CHANGELOG.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5b1fcb5e4d67..2781b25818e6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -33,6 +33,7 @@ This new release adds MVP support for embedding Rerun in Jupyter notebooks, and
 - 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)
@@ -57,6 +58,9 @@ This new release adds MVP support for embedding Rerun in Jupyter notebooks, and
 - 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)
 
 #### 🚀 Performance Improvements
 - batching 4: retire `MsgBundle` + batching support in transport layer [#1679](https://github.com/rerun-io/rerun/pull/1679)
@@ -78,6 +82,8 @@ This new release adds MVP support for embedding Rerun in Jupyter notebooks, and
 - 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)

From 9d5083f2798baef63dd97fa257ef5bb1454c1afe Mon Sep 17 00:00:00 2001
From: Andreas Reich <andreas@rerun.io>
Date: Thu, 20 Apr 2023 10:09:45 +0200
Subject: [PATCH 13/19] 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
---
 crates/re_renderer/src/renderer/point_cloud.rs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/crates/re_renderer/src/renderer/point_cloud.rs b/crates/re_renderer/src/renderer/point_cloud.rs
index 639db5a17ceb..03611b80a256 100644
--- a/crates/re_renderer/src/renderer/point_cloud.rs
+++ b/crates/re_renderer/src/renderer/point_cloud.rs
@@ -130,7 +130,7 @@ pub struct PointCloudBatchInfo {
 
     /// Defines an outline mask for an individual vertex ranges.
     ///
-    /// Vertex ranges are *not* relative within the current batch, but relates to the draw data vertex buffer.
+    /// Vertex ranges are relative within the current batch.
     ///
     /// Having many of these individual outline masks can be slow as they require each their own uniform buffer & draw call.
     /// This feature is meant for a limited number of "extra selections"
@@ -455,6 +455,8 @@ impl PointCloudDrawData {
                 ));
 
                 for (range, _) in &batch_info.additional_outline_mask_ids_vertex_ranges {
+                    let range = (range.start + start_point_for_next_batch)
+                        ..(range.end + start_point_for_next_batch);
                     batches_internal.push(point_renderer.create_point_cloud_batch(
                         ctx,
                         format!("{:?} strip-only {:?}", batch_info.label, range).into(),

From a96607d3fccd579f1d3e6ee2bdb70fe6ae49f097 Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Thu, 20 Apr 2023 10:11:23 +0200
Subject: [PATCH 14/19] changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2781b25818e6..2e9504c7f799 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -61,6 +61,7 @@ This new release adds MVP support for embedding Rerun in Jupyter notebooks, and
 - 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)
 
 #### 🚀 Performance Improvements
 - batching 4: retire `MsgBundle` + batching support in transport layer [#1679](https://github.com/rerun-io/rerun/pull/1679)

From 427d19582129e0b9ea72881059d7123db5112e4b Mon Sep 17 00:00:00 2001
From: Andreas Reich <andreas@rerun.io>
Date: Thu, 20 Apr 2023 12:02:57 +0200
Subject: [PATCH 15/19] 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.
---
 .../src/ui/view_spatial/scene/mod.rs          |  3 -
 .../view_spatial/scene/scene_part/images.rs   |  1 -
 crates/re_viewer/src/ui/view_spatial/ui.rs    | 77 ++++++++++---------
 3 files changed, 42 insertions(+), 39 deletions(-)

diff --git a/crates/re_viewer/src/ui/view_spatial/scene/mod.rs b/crates/re_viewer/src/ui/view_spatial/scene/mod.rs
index 8bb3c28e9010..81c2688a943a 100644
--- a/crates/re_viewer/src/ui/view_spatial/scene/mod.rs
+++ b/crates/re_viewer/src/ui/view_spatial/scene/mod.rs
@@ -63,9 +63,6 @@ pub struct Image {
 
     pub tensor: DecodedTensor,
 
-    /// A thing that provides additional semantic context for your dtype.
-    pub annotations: Arc<Annotations>,
-
     /// Textured rectangle for the renderer.
     pub textured_rect: TexturedRect,
 }
diff --git a/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs b/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs
index f86dc4538777..078574468943 100644
--- a/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs
+++ b/crates/re_viewer/src/ui/view_spatial/scene/scene_part/images.rs
@@ -243,7 +243,6 @@ impl ImagesPart {
                 scene.primitives.images.push(Image {
                     ent_path: ent_path.clone(),
                     tensor,
-                    annotations,
                     textured_rect,
                 });
             }
diff --git a/crates/re_viewer/src/ui/view_spatial/ui.rs b/crates/re_viewer/src/ui/view_spatial/ui.rs
index da463eaa588b..efe2b655f6d5 100644
--- a/crates/re_viewer/src/ui/view_spatial/ui.rs
+++ b/crates/re_viewer/src/ui/view_spatial/ui.rs
@@ -754,28 +754,29 @@ pub fn picking(
         let picked_image_with_coords = if hit.hit_type == PickingHitType::TexturedRect
             || *ent_properties.backproject_depth.get()
         {
-            scene
-                .primitives
-                .images
-                .iter()
-                .find(|image| image.ent_path == instance_path.entity_path)
-                .and_then(|image| {
-                    // If we're here because of back-projection, but this wasn't actually a depth image, drop out.
-                    // (the back-projection property may be true despite this not being a depth image!)
-                    if hit.hit_type != PickingHitType::TexturedRect
-                        && *ent_properties.backproject_depth.get()
-                        && image.tensor.meaning != TensorDataMeaning::Depth
-                    {
-                        return None;
-                    }
-                    image.tensor.image_height_width_channels().map(|[_, w, _]| {
+            query_latest_single::<Tensor>(
+                &ctx.log_db.entity_db,
+                &instance_path.entity_path,
+                &ctx.current_query(),
+            )
+            .and_then(|tensor| {
+                // If we're here because of back-projection, but this wasn't actually a depth image, drop out.
+                // (the back-projection property may be true despite this not being a depth image!)
+                if hit.hit_type != PickingHitType::TexturedRect
+                    && *ent_properties.backproject_depth.get()
+                    && tensor.meaning != TensorDataMeaning::Depth
+                {
+                    None
+                } else {
+                    tensor.image_height_width_channels().map(|[_, w, _]| {
                         let coordinates = hit
                             .instance_path_hash
                             .instance_key
                             .to_2d_image_coordinate(w);
-                        (image, coordinates)
+                        (tensor, coordinates)
                     })
-                })
+                }
+            })
         } else {
             None
         };
@@ -789,9 +790,9 @@ pub fn picking(
             instance_path.clone(),
         ));
 
-        response = if let Some((image, coords)) = picked_image_with_coords {
-            if let Some(meter) = image.tensor.meter {
-                if let Some(raw_value) = image.tensor.get(&[
+        response = if let Some((tensor, coords)) = picked_image_with_coords {
+            if let Some(meter) = tensor.meter {
+                if let Some(raw_value) = tensor.get(&[
                     picking_context.pointer_in_space2d.y.round() as _,
                     picking_context.pointer_in_space2d.x.round() as _,
                 ]) {
@@ -815,10 +816,10 @@ pub fn picking(
                             &ctx.current_query(),
                         );
 
-                        if let [h, w, ..] = image.tensor.shape() {
+                        if let Some([h, w, ..]) = tensor.image_height_width_channels() {
                             ui.separator();
                             ui.horizontal(|ui| {
-                                let (w, h) = (w.size as f32, h.size as f32);
+                                let (w, h) = (w as f32, h as f32);
                                 if *state.nav_mode.get() == SpatialNavigationMode::TwoD {
                                     let rect = egui::Rect::from_min_size(
                                         egui::Pos2::ZERO,
@@ -826,24 +827,30 @@ pub fn picking(
                                     );
                                     data_ui::image::show_zoomed_image_region_area_outline(
                                         ui,
-                                        &image.tensor,
+                                        &tensor,
                                         [coords[0] as _, coords[1] as _],
                                         space_from_ui.inverse().transform_rect(rect),
                                     );
                                 }
 
-                                let tensor_stats = *ctx.cache.tensor_stats(&image.tensor);
-                                let debug_name = image.ent_path.to_string();
-                                data_ui::image::show_zoomed_image_region(
-                                    ctx.render_ctx,
-                                    ui,
-                                    &image.tensor,
-                                    &tensor_stats,
-                                    &image.annotations,
-                                    image.tensor.meter,
-                                    &debug_name,
-                                    [coords[0] as _, coords[1] as _],
-                                );
+                                let tensor_name = instance_path.to_string();
+                                match ctx.cache.decode.try_decode_tensor_if_necessary(tensor) {
+                                    Ok(decoded_tensor) =>
+                                    data_ui::image::show_zoomed_image_region(
+                                        ctx.render_ctx,
+                                        ui,
+                                        &decoded_tensor,
+                                        ctx.cache.tensor_stats(&decoded_tensor),
+                                        &scene.annotation_map.find(&instance_path.entity_path),
+                                        decoded_tensor.meter,
+                                        &tensor_name,
+                                        [coords[0] as _, coords[1] as _],
+                                    ),
+                                Err(err) =>
+                                    re_log::warn_once!(
+                                        "Encountered problem decoding tensor at path {tensor_name}: {err}"
+                                    ),
+                                }
                             });
                         }
                     });

From ea1b7da1365ef2bf79faf344fdb0662bfba7ac30 Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Thu, 20 Apr 2023 12:05:19 +0200
Subject: [PATCH 16/19] changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2e9504c7f799..4ccfb255c68b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -62,6 +62,7 @@ This new release adds MVP support for embedding Rerun in Jupyter notebooks, and
 - 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)

From 62716ba5674dcf7cc0edd81878f2fff8e2ac9e63 Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Thu, 20 Apr 2023 15:13:08 +0200
Subject: [PATCH 17/19] 2.5GB before GC kick in on web (#1944)

---
 crates/re_viewer/src/web.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/crates/re_viewer/src/web.rs b/crates/re_viewer/src/web.rs
index 58dcec080ce2..01e33d523548 100644
--- a/crates/re_viewer/src/web.rs
+++ b/crates/re_viewer/src/web.rs
@@ -38,7 +38,7 @@ pub async fn start(
             let startup_options = crate::StartupOptions {
                 memory_limit: re_memory::MemoryLimit {
                     // On wasm32 we only have 4GB of memory to play around with.
-                    limit: Some(3_500_000_000),
+                    limit: Some(2_500_000_000),
                 },
                 persist_state,
             };

From 0e55854c81489c1777749d010f1d0c349b51f345 Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Thu, 20 Apr 2023 15:45:24 +0200
Subject: [PATCH 18/19] changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4ccfb255c68b..5d2060d7981b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -115,6 +115,7 @@ This new release adds MVP support for embedding Rerun in Jupyter notebooks, and
 - 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)

From de38609ad34b12444d8b2f3a19320e931c30307a Mon Sep 17 00:00:00 2001
From: Clement Rey <cr.rey.clement@gmail.com>
Date: Thu, 20 Apr 2023 15:53:20 +0200
Subject: [PATCH 19/19] 0.5.0

---
 Cargo.lock | 70 +++++++++++++++++++++++++++---------------------------
 Cargo.toml | 54 ++++++++++++++++++++---------------------
 2 files changed, 62 insertions(+), 62 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index c6800487fafc..d7917e62575f 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -124,7 +124,7 @@ checksum = "216261ddc8289130e551ddcd5ce8a064710c0d064a4d2895c67151c92b5443f6"
 
 [[package]]
 name = "api_demo"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "anyhow",
  "clap 4.1.4",
@@ -1278,7 +1278,7 @@ dependencies = [
 
 [[package]]
 name = "dna"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "itertools",
  "rand",
@@ -2708,7 +2708,7 @@ dependencies = [
 
 [[package]]
 name = "minimal"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "rerun",
 ]
@@ -2721,7 +2721,7 @@ checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
 
 [[package]]
 name = "minimal_options"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "anyhow",
  "clap 4.1.4",
@@ -3134,7 +3134,7 @@ dependencies = [
 
 [[package]]
 name = "objectron"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "anyhow",
  "clap 4.1.4",
@@ -3730,7 +3730,7 @@ dependencies = [
 
 [[package]]
 name = "raw_mesh"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "anyhow",
  "bytes",
@@ -3770,7 +3770,7 @@ dependencies = [
 
 [[package]]
 name = "re_analytics"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "anyhow",
  "crossbeam",
@@ -3791,7 +3791,7 @@ dependencies = [
 
 [[package]]
 name = "re_arrow_store"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "ahash 0.8.2",
  "anyhow",
@@ -3818,7 +3818,7 @@ dependencies = [
 
 [[package]]
 name = "re_build_build_info"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "anyhow",
  "time 0.3.20",
@@ -3826,18 +3826,18 @@ dependencies = [
 
 [[package]]
 name = "re_build_info"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 
 [[package]]
 name = "re_build_web_viewer"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "cargo_metadata",
 ]
 
 [[package]]
 name = "re_data_store"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "ahash 0.8.2",
  "criterion",
@@ -3860,14 +3860,14 @@ dependencies = [
 
 [[package]]
 name = "re_error"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "anyhow",
 ]
 
 [[package]]
 name = "re_format"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "arrow2",
  "arrow2_convert",
@@ -3877,7 +3877,7 @@ dependencies = [
 
 [[package]]
 name = "re_int_histogram"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "criterion",
  "insta",
@@ -3888,7 +3888,7 @@ dependencies = [
 
 [[package]]
 name = "re_log"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "env_logger",
  "js-sys",
@@ -3901,7 +3901,7 @@ dependencies = [
 
 [[package]]
 name = "re_log_encoding"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "criterion",
  "ehttp",
@@ -3926,7 +3926,7 @@ dependencies = [
 
 [[package]]
 name = "re_log_types"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "ahash 0.8.2",
  "array-init",
@@ -3964,7 +3964,7 @@ dependencies = [
 
 [[package]]
 name = "re_memory"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "ahash 0.8.2",
  "backtrace",
@@ -3984,7 +3984,7 @@ dependencies = [
 
 [[package]]
 name = "re_query"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "arrow2",
  "criterion",
@@ -4002,7 +4002,7 @@ dependencies = [
 
 [[package]]
 name = "re_renderer"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "ahash 0.8.2",
  "anyhow",
@@ -4055,7 +4055,7 @@ dependencies = [
 
 [[package]]
 name = "re_sdk"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "arrow2_convert",
  "document-features",
@@ -4075,7 +4075,7 @@ dependencies = [
 
 [[package]]
 name = "re_sdk_comms"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "ahash 0.8.2",
  "anyhow",
@@ -4091,7 +4091,7 @@ dependencies = [
 
 [[package]]
 name = "re_smart_channel"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "crossbeam",
  "instant",
@@ -4099,7 +4099,7 @@ dependencies = [
 
 [[package]]
 name = "re_string_interner"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "ahash 0.8.2",
  "nohash-hasher",
@@ -4110,7 +4110,7 @@ dependencies = [
 
 [[package]]
 name = "re_tensor_ops"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "ahash 0.8.2",
  "ndarray",
@@ -4120,7 +4120,7 @@ dependencies = [
 
 [[package]]
 name = "re_tuid"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "arrow2",
  "arrow2_convert",
@@ -4134,7 +4134,7 @@ dependencies = [
 
 [[package]]
 name = "re_ui"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "eframe",
  "egui",
@@ -4152,7 +4152,7 @@ dependencies = [
 
 [[package]]
 name = "re_viewer"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "ahash 0.8.2",
  "anyhow",
@@ -4212,7 +4212,7 @@ dependencies = [
 
 [[package]]
 name = "re_web_viewer_server"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "cargo_metadata",
  "ctrlc",
@@ -4229,7 +4229,7 @@ dependencies = [
 
 [[package]]
 name = "re_ws_comms"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "anyhow",
  "bincode",
@@ -4301,7 +4301,7 @@ checksum = "f1382d1f0a252c4bf97dc20d979a2fdd05b024acd7c2ed0f7595d7817666a157"
 
 [[package]]
 name = "rerun"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "anyhow",
  "backtrace",
@@ -4333,7 +4333,7 @@ dependencies = [
 
 [[package]]
 name = "rerun_py"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "arrow2",
  "document-features",
@@ -4437,7 +4437,7 @@ dependencies = [
 
 [[package]]
 name = "run_wasm"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "cargo-run-wasm",
  "pico-args",
@@ -4991,7 +4991,7 @@ dependencies = [
 
 [[package]]
 name = "test_image_memory"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 dependencies = [
  "mimalloc",
  "re_format",
diff --git a/Cargo.toml b/Cargo.toml
index 983336ab949a..c0c8e9b928b1 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -16,39 +16,39 @@ include = ["../../LICENSE-APACHE", "../../LICENSE-MIT", "**/*.rs", "Cargo.toml"]
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/rerun-io/rerun"
 rust-version = "1.67"
-version = "0.5.0-alpha.0"
+version = "0.5.0"
 
 [workspace.dependencies]
 # When using alpha-release, always use exact version, e.g. `version = "=0.x.y-alpha.z"
 # This is because we treat alpha-releases as incompatible, but semver doesn't.
 # In particular: if we compile rerun 0.3.0-alpha.0 we only want it to use
 # re_log_types 0.3.0-alpha.0, NOT 0.3.0-alpha.4 even though it is newer and semver-compatible.
-re_analytics = { path = "crates/re_analytics", version = "0.5.0-alpha.0" }
-re_arrow_store = { path = "crates/re_arrow_store", version = "0.5.0-alpha.0" }
-re_build_build_info = { path = "crates/re_build_build_info", version = "0.5.0-alpha.0" }
-re_build_info = { path = "crates/re_build_info", version = "0.5.0-alpha.0" }
-re_build_web_viewer = { path = "crates/re_build_web_viewer", version = "0.5.0-alpha.0" }
-re_data_store = { path = "crates/re_data_store", version = "0.5.0-alpha.0" }
-re_error = { path = "crates/re_error", version = "0.5.0-alpha.0" }
-re_format = { path = "crates/re_format", version = "0.5.0-alpha.0" }
-re_int_histogram = { path = "crates/re_int_histogram", version = "0.5.0-alpha.0" }
-re_log = { path = "crates/re_log", version = "0.5.0-alpha.0" }
-re_log_encoding = { path = "crates/re_log_encoding", version = "0.5.0-alpha.0" }
-re_log_types = { path = "crates/re_log_types", version = "0.5.0-alpha.0" }
-re_memory = { path = "crates/re_memory", version = "0.5.0-alpha.0" }
-re_query = { path = "crates/re_query", version = "0.5.0-alpha.0" }
-re_renderer = { path = "crates/re_renderer", version = "0.5.0-alpha.0" }
-re_sdk = { path = "crates/re_sdk", version = "0.5.0-alpha.0" }
-re_sdk_comms = { path = "crates/re_sdk_comms", version = "0.5.0-alpha.0" }
-re_smart_channel = { path = "crates/re_smart_channel", version = "0.5.0-alpha.0" }
-re_string_interner = { path = "crates/re_string_interner", version = "0.5.0-alpha.0" }
-re_tensor_ops = { path = "crates/re_tensor_ops", version = "0.5.0-alpha.0" }
-re_tuid = { path = "crates/re_tuid", version = "0.5.0-alpha.0" }
-re_ui = { path = "crates/re_ui", version = "0.5.0-alpha.0" }
-re_viewer = { path = "crates/re_viewer", version = "0.5.0-alpha.0" }
-re_web_viewer_server = { path = "crates/re_web_viewer_server", version = "0.5.0-alpha.0" }
-re_ws_comms = { path = "crates/re_ws_comms", version = "0.5.0-alpha.0" }
-rerun = { path = "crates/rerun", version = "0.5.0-alpha.0" }
+re_analytics = { path = "crates/re_analytics", version = "0.5.0" }
+re_arrow_store = { path = "crates/re_arrow_store", version = "0.5.0" }
+re_build_build_info = { path = "crates/re_build_build_info", version = "0.5.0" }
+re_build_info = { path = "crates/re_build_info", version = "0.5.0" }
+re_build_web_viewer = { path = "crates/re_build_web_viewer", version = "0.5.0" }
+re_data_store = { path = "crates/re_data_store", version = "0.5.0" }
+re_error = { path = "crates/re_error", version = "0.5.0" }
+re_format = { path = "crates/re_format", version = "0.5.0" }
+re_int_histogram = { path = "crates/re_int_histogram", version = "0.5.0" }
+re_log = { path = "crates/re_log", version = "0.5.0" }
+re_log_encoding = { path = "crates/re_log_encoding", version = "0.5.0" }
+re_log_types = { path = "crates/re_log_types", version = "0.5.0" }
+re_memory = { path = "crates/re_memory", version = "0.5.0" }
+re_query = { path = "crates/re_query", version = "0.5.0" }
+re_renderer = { path = "crates/re_renderer", version = "0.5.0" }
+re_sdk = { path = "crates/re_sdk", version = "0.5.0" }
+re_sdk_comms = { path = "crates/re_sdk_comms", version = "0.5.0" }
+re_smart_channel = { path = "crates/re_smart_channel", version = "0.5.0" }
+re_string_interner = { path = "crates/re_string_interner", version = "0.5.0" }
+re_tensor_ops = { path = "crates/re_tensor_ops", version = "0.5.0" }
+re_tuid = { path = "crates/re_tuid", version = "0.5.0" }
+re_ui = { path = "crates/re_ui", version = "0.5.0" }
+re_viewer = { path = "crates/re_viewer", version = "0.5.0" }
+re_web_viewer_server = { path = "crates/re_web_viewer_server", version = "0.5.0" }
+re_ws_comms = { path = "crates/re_ws_comms", version = "0.5.0" }
+rerun = { path = "crates/rerun", version = "0.5.0" }
 
 ahash = "0.8"
 anyhow = "1.0"