Visualization with Rerun

The visualization feature streams poses, landmarks, cost curves, damping trajectories and Hessian sparsity patterns to a live Rerun viewer while the optimizer runs.

[dependencies]
apex-solver = { version = "1.5.0", features = ["visualization"] }

#![allow(unused)]
fn main() {
use apex_solver::observers::{RerunObserver, VisualizationConfig};

let config = VisualizationConfig::new()
    .with_show_cameras(true)
    .with_show_landmarks(true)
    .with_show_plots(true);

let mut solver = LevenbergMarquardt::with_config(lm_config);
solver.add_observer(RerunObserver::with_config(true, config)?);
let result = solver.optimize(&mut problem)?;
}

Start the viewer first (rerun on the command line or rerun::Session), then run your binary. Every iteration appears live: camera frustums, landmark points, the cost curve, and the sparsity pattern of the current Hessian.

The visualize_optimization and visualize_graph_file examples show complete setups for bundle adjustment and pose graphs respectively:

cargo run --release --example visualize_optimization --features visualization