From 5cb09748f93f7d9bd7d7c8db3c18aba6816a1bfc Mon Sep 17 00:00:00 2001
From: Easton Potokar <contagon6@gmail.com>
Date: Mon, 9 Sep 2024 09:52:03 -0400
Subject: [PATCH] Update rerun version

---
 Cargo.lock                  | 244 +++++++++++++++++++-----------------
 Cargo.toml                  |   2 +-
 src/linalg/nalgebra_wrap.rs |   3 +-
 src/rerun.rs                |   3 +-
 src/variables/traits.rs     |   2 +-
 5 files changed, 133 insertions(+), 121 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index d5d1e80..9b9c0a3 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -249,7 +249,7 @@ checksum = "3b43422f69d8ff38f95f1b2bb76517c91589a924d1559a0e935d7c8ce0274c11"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -284,7 +284,7 @@ checksum = "c6fa2087f2753a7da8cc1c0dbfcf89579dd57458e36769de5ac750b4671737ca"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -420,7 +420,7 @@ checksum = "1ee891b04274a59bd38b412188e24b849617b2e45a0fd8d057deb63e7403761b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -720,7 +720,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "rustc_version",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -797,7 +797,7 @@ dependencies = [
  "heck 0.4.1",
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -818,7 +818,7 @@ checksum = "de0d48a183585823424a4ce1aa132d174a6a81bd540895822eb4c8373a8e49e8"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -863,7 +863,7 @@ checksum = "3bf679796c0322556351f287a51b49e48f7c4986e727b5dd78c972d30e2e16cc"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -1135,7 +1135,7 @@ checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -1473,6 +1473,15 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
+[[package]]
+name = "itertools"
+version = "0.10.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0fd2260e829bddf4cb6ea802289de2f86d6a7a690192fbe91b3f46e0f2c8473"
+dependencies = [
+ "either",
+]
+
 [[package]]
 name = "itertools"
 version = "0.13.0"
@@ -1703,7 +1712,7 @@ checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -1847,7 +1856,7 @@ checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -2132,7 +2141,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5f12335488a2f3b0a83b14edad48dca9879ce89b2edd10e80237e4e852dd645e"
 dependencies = [
  "proc-macro2",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -2156,14 +2165,15 @@ dependencies = [
 
 [[package]]
 name = "puffin"
-version = "0.19.0"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9f76ad4bb049fded4e572df72cbb6381ff5d1f41f85c3a04b56e4eca287a02f"
+checksum = "fa9dae7b05c02ec1a6bc9bcf20d8bc64a7dcbf57934107902a872014899b741f"
 dependencies = [
  "anyhow",
  "bincode",
  "byteorder",
  "cfg-if",
+ "itertools 0.10.5",
  "lz4_flex",
  "once_cell",
  "parking_lot",
@@ -2214,9 +2224,9 @@ checksum = "a1d01941d82fa2ab50be1e79e6714289dd7cde78eba4c074bc5a4374f650dfe0"
 
 [[package]]
 name = "quote"
-version = "1.0.36"
+version = "1.0.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
+checksum = "b5b9d34b8991d19d98081b46eacdd8eb58c6f2b201139f7c5f643cc155a633af"
 dependencies = [
  "proc-macro2",
 ]
@@ -2317,18 +2327,18 @@ dependencies = [
 
 [[package]]
 name = "re_build_info"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "958b9f9310bdc194578aa851fa1fdd06b9b74dcd4da2a05acfd76e71fb6440ca"
+checksum = "bb89ca2a069a90b152610c5d4771b7a831ed9d15b054548a08dfe7b41710d53c"
 dependencies = [
  "serde",
 ]
 
 [[package]]
 name = "re_build_tools"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0a5c00c90429b32d6c510eadaa8641a42179a1eab156e25c8fba6d662b83f9e0"
+checksum = "1b66fc95fed87eba938856c49d029b2525d1d90a1fd8f45c419fd75f57e09afc"
 dependencies = [
  "anyhow",
  "cargo_metadata 0.18.1",
@@ -2341,96 +2351,93 @@ dependencies = [
 
 [[package]]
 name = "re_case"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "afecb88ab9e8a1544b9a0b5b7e9f5d997696624856274822ef9fa3dafa044485"
+checksum = "752ce7308c890cd44d7c4072ef5fb9ec1131a78535ff2cc8058cf93120bcfee2"
 dependencies = [
  "convert_case 0.6.0",
 ]
 
 [[package]]
 name = "re_chunk"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "71158f674fc6da5d5fea3e894dbbb885764c59ed0176281b9bc0f4c7da461e5d"
+checksum = "e48a9e622debb4ebe8de81714b47d48c89eba7c38c57213b9d15fe0080ac1c67"
 dependencies = [
  "ahash",
  "anyhow",
- "backtrace",
+ "bytemuck",
  "crossbeam",
  "document-features",
- "itertools",
+ "itertools 0.13.0",
  "nohash-hasher",
  "rand",
  "re_arrow2",
- "re_build_info",
+ "re_error",
  "re_format",
  "re_format_arrow",
  "re_log",
  "re_log_types",
- "re_string_interner",
  "re_tracing",
  "re_tuid",
  "re_types_core",
+ "serde",
  "similar-asserts",
- "smallvec",
- "static_assertions",
  "thiserror",
 ]
 
 [[package]]
-name = "re_crash_handler"
-version = "0.17.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7343f81f3f0fadfeba0ad21175e62db7fc5533ee8f2bc3a571c98bb33d12f530"
-dependencies = [
- "backtrace",
- "itertools",
- "libc",
- "parking_lot",
- "re_build_info",
-]
-
-[[package]]
-name = "re_data_store"
-version = "0.17.0"
+name = "re_chunk_store"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ab1755bb3b411f50e2aeeff18ebc2a2e9818bd5bb9537964489cae798f7316c"
+checksum = "428c6c5ef2bdc0c8d9afee239d8d1ba51dc60559e60a302a361d7fe62727009a"
 dependencies = [
  "ahash",
  "document-features",
  "indent",
- "itertools",
+ "itertools 0.13.0",
  "nohash-hasher",
  "once_cell",
  "parking_lot",
  "re_arrow2",
+ "re_chunk",
  "re_format",
- "re_format_arrow",
  "re_log",
  "re_log_types",
  "re_tracing",
  "re_types_core",
- "smallvec",
  "thiserror",
  "web-time",
 ]
 
+[[package]]
+name = "re_crash_handler"
+version = "0.18.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0a27eaac446e4cb6e151560d3215dceee779a1fd0e7c3cde81b4a6708c26d29d"
+dependencies = [
+ "backtrace",
+ "itertools 0.13.0",
+ "libc",
+ "parking_lot",
+ "re_build_info",
+]
+
 [[package]]
 name = "re_entity_db"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c53f9ae7edf36481a9147cd26049ec9449f77bf17f8baf6626ae44a80a0bc6c"
+checksum = "19b2485d7d304ab4a569e6cffa1ab9e9574fe412bb2dd81dad15a5a98f914924"
 dependencies = [
  "ahash",
  "document-features",
  "emath",
- "getrandom",
- "itertools",
+ "itertools 0.13.0",
  "nohash-hasher",
  "parking_lot",
  "re_build_info",
- "re_data_store",
+ "re_chunk",
+ "re_chunk_store",
  "re_format",
  "re_int_histogram",
  "re_log",
@@ -2446,24 +2453,24 @@ dependencies = [
 
 [[package]]
 name = "re_error"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a238304455818c724cd69769bb12dc17526a3df9ac126092815ae72b266fb0e"
+checksum = "33aefcf4ba9f02854105067dba72b30ead0b94beadd26d242d188d2cad855890"
 
 [[package]]
 name = "re_format"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fee779c60cde0552f740838a084b8b654d7cdd1c8d5881579fd8f69ba230bc12"
+checksum = "84f4d2734843d2e4403c0378ac7ee1721511a5ddcbaf48d8bfe3208be38b2750"
 dependencies = [
  "num-traits",
 ]
 
 [[package]]
 name = "re_format_arrow"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fe62af5594044ac9c9651a7c9b47db3088d1f89cd05ee2e84a6355042648c295"
+checksum = "e093b8c9ca524367f65f63e7bef27510eea05a2e0dca75ead7cfcf778f55f0e9"
 dependencies = [
  "comfy-table",
  "re_arrow2",
@@ -2473,9 +2480,9 @@ dependencies = [
 
 [[package]]
 name = "re_int_histogram"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "82f9fe0aae220d59227e1b577c67c0304f23e59419849d483047a0dae30f650b"
+checksum = "952d88f59e10f3b5f20c1f672a416a2f38d193a356d37e654ea8514fb7d069f3"
 dependencies = [
  "smallvec",
  "static_assertions",
@@ -2483,9 +2490,9 @@ dependencies = [
 
 [[package]]
 name = "re_log"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b04b37346b0cef146c875d286d707f0c7764a09239b741585dead9834ffcb5c3"
+checksum = "a44cc0f4eb4a82fa7b2d16605c103256594e07262e1117b56472886f7e309fa9"
 dependencies = [
  "env_logger 0.10.2",
  "js-sys",
@@ -2498,13 +2505,14 @@ dependencies = [
 
 [[package]]
 name = "re_log_encoding"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "014af653eefc26378b09d6b0f48472582a77ffc0428e65d850bfa8aba1daa231"
+checksum = "9ff50fa788bfe385f63b8e8dbdb4a5f97f312dcd0a4b752dfdd8f11e970f7bd2"
 dependencies = [
  "lz4_flex",
  "parking_lot",
  "re_build_info",
+ "re_chunk",
  "re_log",
  "re_log_types",
  "re_smart_channel",
@@ -2515,19 +2523,20 @@ dependencies = [
 
 [[package]]
 name = "re_log_types"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d4df039b428c0f02b8deafdf3879c84e25b616708fa09dedbfbcc999f51febe3"
+checksum = "c953bc26e15d4bda28585a434df4bcfeaa0fc1f1174bd99a78c6347b529f8860"
 dependencies = [
  "ahash",
  "anyhow",
  "backtrace",
+ "bytemuck",
  "clean-path",
  "crossbeam",
  "document-features",
  "fixed",
  "half",
- "itertools",
+ "itertools 0.13.0",
  "natord",
  "nohash-hasher",
  "num-derive",
@@ -2535,7 +2544,6 @@ dependencies = [
  "re_arrow2",
  "re_build_info",
  "re_format",
- "re_format_arrow",
  "re_log",
  "re_string_interner",
  "re_tracing",
@@ -2544,7 +2552,6 @@ dependencies = [
  "serde",
  "serde_bytes",
  "similar-asserts",
- "smallvec",
  "static_assertions",
  "thiserror",
  "time",
@@ -2555,14 +2562,14 @@ dependencies = [
 
 [[package]]
 name = "re_memory"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "290b13c95fe6146709dcdbca790f08f677a0b73ca0a85402f04e844fb2e7db40"
+checksum = "3d456b886bc5aea51abc720a0ead28bf2593c7dfc87c12f6d088030e30c28018"
 dependencies = [
  "ahash",
  "backtrace",
  "emath",
- "itertools",
+ "itertools 0.13.0",
  "memory-stats",
  "nohash-hasher",
  "once_cell",
@@ -2578,46 +2585,45 @@ dependencies = [
 
 [[package]]
 name = "re_query"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a43317de51580d71f81a5f385661bc191ebfa3a0fae733274afddf084a7d64eb"
+checksum = "04bdaca11104426f316fdf94a59bc6333f2f0f062bc61d8dfbcf7f5f7929d99d"
 dependencies = [
  "ahash",
  "anyhow",
  "backtrace",
  "indent",
- "indexmap",
- "itertools",
+ "itertools 0.13.0",
  "nohash-hasher",
  "parking_lot",
  "paste",
  "re_arrow2",
- "re_data_store",
+ "re_chunk",
+ "re_chunk_store",
  "re_error",
  "re_format",
  "re_log",
  "re_log_types",
  "re_tracing",
- "re_tuid",
  "re_types_core",
  "seq-macro",
- "static_assertions",
  "thiserror",
 ]
 
 [[package]]
 name = "re_sdk"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc80eaf36c1cbac09c1914d8ccace804536d5b3046ca387806258b4736c883f4"
+checksum = "4120478d467a8cc9cbcb97746aae9042f3a8ffa2abcd3e17ce7f81f64e390209"
 dependencies = [
  "ahash",
  "crossbeam",
  "document-features",
- "itertools",
+ "itertools 0.13.0",
  "libc",
  "once_cell",
  "parking_lot",
+ "re_arrow2",
  "re_build_info",
  "re_build_tools",
  "re_chunk",
@@ -2632,9 +2638,9 @@ dependencies = [
 
 [[package]]
 name = "re_sdk_comms"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "65db075826857c30842adc76ea6615b8d263f9be9f30f2d4f89f448056da68cc"
+checksum = "3f1463c37abe42f636738a6f6d7206cefb89d410058fb4ce974f397c8ef77600"
 dependencies = [
  "ahash",
  "crossbeam",
@@ -2649,9 +2655,9 @@ dependencies = [
 
 [[package]]
 name = "re_smart_channel"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d2e0cc5f522f64534edf44fbd1ff03d706157b4a13597be661db7c88c7863cd7"
+checksum = "6a20571dc97dc22a89ffb34ed46f16dc917eb428e5676210161d9a8d04f92547"
 dependencies = [
  "crossbeam",
  "parking_lot",
@@ -2662,9 +2668,9 @@ dependencies = [
 
 [[package]]
 name = "re_string_interner"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f6349840b6af8671eaf483453d600ff7fe747b8baa65fb69f69179b243e98bc"
+checksum = "57858c98a25ce888815957cfd725115b51c848512334cbf432547289a3259c42"
 dependencies = [
  "ahash",
  "nohash-hasher",
@@ -2676,9 +2682,9 @@ dependencies = [
 
 [[package]]
 name = "re_tracing"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f4c16e0c6a298497f1576447f3c8a3bb7607034e9019c778917925b67a0c66da"
+checksum = "9414e648bf8b9d64db949c3cf87d1ef742cc96687d2ef982c6b6c68f386a1401"
 dependencies = [
  "puffin",
  "puffin_http",
@@ -2688,9 +2694,9 @@ dependencies = [
 
 [[package]]
 name = "re_tuid"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bb7b6e25fb7b5201e96b7241c208426158211d676a635fc4b9ddbbb378e72ce6"
+checksum = "38e45f11127f1052a784a71227e4064d695ba0275f9a9d5fe5cb595bb69e645e"
 dependencies = [
  "document-features",
  "getrandom",
@@ -2701,9 +2707,9 @@ dependencies = [
 
 [[package]]
 name = "re_types"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e48cb4fd4c787ab56484f58dcce00728c70e88fdd2f6b694ec3eb589c41465b"
+checksum = "12a5181eb21eb0a2efb6129b1f3b10c485dfff0b3a795077630edf609d65dc0b"
 dependencies = [
  "anyhow",
  "array-init",
@@ -2712,7 +2718,7 @@ dependencies = [
  "emath",
  "half",
  "infer",
- "itertools",
+ "itertools 0.13.0",
  "linked-hash-map",
  "mime_guess2",
  "ndarray",
@@ -2724,6 +2730,7 @@ dependencies = [
  "re_build_tools",
  "re_format",
  "re_log",
+ "re_log_types",
  "re_tracing",
  "re_types_builder",
  "re_types_core",
@@ -2734,16 +2741,16 @@ dependencies = [
 
 [[package]]
 name = "re_types_builder"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "319906afc4fe193dc3ff5d5db5d1e3d64f93322beabf0bd3bf7bbd5e4c991c27"
+checksum = "7222c14159d0792b728489db0eb18c09f643faee8f120e14dbee045455edd413"
 dependencies = [
  "anyhow",
  "camino",
  "clang-format",
  "flatbuffers",
  "indent",
- "itertools",
+ "itertools 0.13.0",
  "prettyplease",
  "proc-macro2",
  "quote",
@@ -2755,7 +2762,7 @@ dependencies = [
  "re_log",
  "re_tracing",
  "rust-format",
- "syn 2.0.68",
+ "syn 2.0.77",
  "tempfile",
  "unindent",
  "xshell",
@@ -2763,15 +2770,15 @@ dependencies = [
 
 [[package]]
 name = "re_types_core"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aea9a20eb65fa69872e2a68cb6a5348f886b2c7be9ff2aee4777f20b30eda8c6"
+checksum = "3aa5181a363c04196046dca82575550d5d04f2ad52d8ebdc6d36adc79a94851d"
 dependencies = [
  "anyhow",
  "backtrace",
  "bytemuck",
  "document-features",
- "itertools",
+ "itertools 0.13.0",
  "nohash-hasher",
  "once_cell",
  "re_arrow2",
@@ -2837,19 +2844,21 @@ checksum = "7a66a03ae7c801facd77a29370b4faec201768915ac14a721ba36f20bc9c209b"
 
 [[package]]
 name = "rerun"
-version = "0.17.0"
+version = "0.18.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36720e9d27c1c65ca0a36a2356da9ae011f57f0c81b5173ce4fb7144ae88b0af"
+checksum = "f8e6473101c2440d9dcad8d96aef558e38f0b8bb65b3f64f050d3b37b8316ccf"
 dependencies = [
  "anyhow",
  "document-features",
- "itertools",
+ "itertools 0.13.0",
  "puffin",
  "rayon",
  "re_build_info",
  "re_build_tools",
+ "re_chunk",
  "re_crash_handler",
  "re_entity_db",
+ "re_error",
  "re_format",
  "re_log",
  "re_log_types",
@@ -2858,6 +2867,7 @@ dependencies = [
  "re_smart_channel",
  "re_tracing",
  "re_types",
+ "similar-asserts",
 ]
 
 [[package]]
@@ -3032,7 +3042,7 @@ checksum = "500cbc0ebeb6f46627f50f3f5811ccf6bf00643be300b4c3eabc0ef55dc5b5ba"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -3054,7 +3064,7 @@ checksum = "6c64451ba24fc7a6a2d60fc75dd9c83c90903b19028d4eff35e88fc1e86564e9"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -3189,7 +3199,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "rustversion",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -3205,9 +3215,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.68"
+version = "2.0.77"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "901fa70d88b9d6c98022e23b4136f9f3e54e4662c3bc1bd1d84a42a9a0f0c1e9"
+checksum = "9f35bcdf61fd8e7be6caf75f429fdca8beb3ed76584befb503b1569faee373ed"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3280,7 +3290,7 @@ checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -3369,7 +3379,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -3424,7 +3434,7 @@ checksum = "ac73887f47b9312552aa90ef477927ff014d63d1920ca8037c6c1951eab64bb1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
@@ -3564,7 +3574,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
  "wasm-bindgen-shared",
 ]
 
@@ -3598,7 +3608,7 @@ checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
@@ -3945,7 +3955,7 @@ checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.68",
+ "syn 2.0.77",
 ]
 
 [[package]]
diff --git a/Cargo.toml b/Cargo.toml
index f541235..78d009a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -31,7 +31,7 @@ typetag = { version = "0.2.16", optional = true }
 serde_json = { version = "1.0.120", optional = true }
 
 # rerun support
-rerun = { version = "0.17", optional = true, default-features = false, features = [
+rerun = { version = "0.18", optional = true, default-features = false, features = [
     "sdk",
 ] }
 
diff --git a/src/linalg/nalgebra_wrap.rs b/src/linalg/nalgebra_wrap.rs
index 8f573b8..1429f85 100644
--- a/src/linalg/nalgebra_wrap.rs
+++ b/src/linalg/nalgebra_wrap.rs
@@ -5,6 +5,7 @@ pub use nalgebra::{
     allocator::Allocator,
     dmatrix as matrixx,
     dvector as vectorx,
+    ComplexField,
     Const,
     DefaultAllocator,
     Dim,
@@ -113,7 +114,7 @@ pub type VectorView5<'a, D = dtype> = na::VectorView<'a, D, Const<5>>;
 pub type VectorView6<'a, D = dtype> = na::VectorView<'a, D, Const<6>>;
 
 // Generic, taking in sizes with Const
-pub type VectorDim<N> = OVector<dtype, N>;
+pub type VectorDim<N, D = dtype> = OVector<D, N>;
 pub type MatrixDim<R, C = Const<1>, D = dtype> =
     na::Matrix<D, R, C, <na::DefaultAllocator as Allocator<D, R, C>>::Buffer>;
 pub type MatrixViewDim<'a, R, C = Const<1>, D = dtype> = na::MatrixView<'a, D, R, C>;
diff --git a/src/rerun.rs b/src/rerun.rs
index 4e099fc..e3daaaa 100644
--- a/src/rerun.rs
+++ b/src/rerun.rs
@@ -1,4 +1,5 @@
 use rerun::{
+    components::RotationQuat,
     Arrows2D,
     Arrows3D,
     AsComponents,
@@ -158,7 +159,7 @@ impl<'a> From<&'a SO3> for Rotation3D {
             so3.z() as f32,
             so3.w() as f32,
         ];
-        Rotation3D::Quaternion(Quaternion::from_xyzw(xyzw))
+        Rotation3D::Quaternion(RotationQuat(Quaternion::from_xyzw(xyzw)))
     }
 }
 
diff --git a/src/variables/traits.rs b/src/variables/traits.rs
index e1d2afd..6d65d8e 100644
--- a/src/variables/traits.rs
+++ b/src/variables/traits.rs
@@ -111,7 +111,7 @@ pub trait Variable<D: Numeric = dtype>: Clone + Sized + Display + Debug {
     /// This can be seen as a "tip-to-tail" computation. IE it computes the
     /// transformation between two poses. I like to think of it as "taking away"
     /// the portion subtracted out, for example given a chain of poses $a, b,
-    /// c$,
+    /// c$, the following "removes" the portion from $a$ to $b$.
     ///
     /// $$
     /// {}_a T_c \boxminus {}_a T_b = ({}_a T_b)^{-1} {}_a T_c = {}_b T_c