Struct VisualizationConfig 

pub struct VisualizationConfig {

    pub show_cameras: bool,
    pub show_landmarks: bool,
    pub show_se2_poses: bool,
    pub show_plots: bool,
    pub show_matrices: bool,
    pub camera_fov: f32,
    pub camera_aspect_ratio: f32,
    pub camera_frustum_scale: f32,
    pub landmark_point_size: f32,
    pub initial_landmark_color: [u8; 3],
    pub optimized_landmark_color: [u8; 3],
    pub se2_pose_radius: f32,
    pub se2_box_half_size: f32,
    pub initial_se2_color: [u8; 3],
    pub optimized_se2_color: [u8; 3],
    pub hessian_downsample_size: usize,
    pub gradient_bar_width: usize,
    pub graph_scale: f32,
    pub invert_camera_poses: bool,
    pub visualization_mode: VisualizationMode,
}

Configuration for visualization options in RerunObserver.

This struct controls what elements are visualized and their appearance. Use the builder pattern to customize settings.

Examples

use apex_solver::observers::VisualizationConfig;

// Default: show everything
let config = VisualizationConfig::new();

// Cameras only with larger frustums
let config = VisualizationConfig::cameras_only()
    .with_camera_fov(0.8)
    .with_camera_frustum_scale(2.0);

// Landmarks only with larger points
let config = VisualizationConfig::landmarks_only()
    .with_landmark_point_size(0.05);

// Bundle adjustment preset
let config = VisualizationConfig::for_bundle_adjustment();

Fields

show_cameras: bool

Show camera poses (SE3 variables) as frustums

show_landmarks: bool

Show 3D landmarks (Rn with dim=3) as point cloud

show_se2_poses: bool

Show SE2 poses (for 2D SLAM)

show_plots: bool

Show time series plots (cost, gradient, damping, etc.)

show_matrices: bool

Show matrix visualizations (Hessian, gradient)

camera_fov: f32

Camera frustum field of view in radians (default: 0.5)

camera_aspect_ratio: f32

Camera frustum aspect ratio (default: 1.0)

camera_frustum_scale: f32

Scale factor for camera frustum size (default: 1.0)

landmark_point_size: f32

Radius of 3D landmark points (default: 0.02)

initial_landmark_color: [u8; 3]

Color for initial landmarks RGB (default: blue [100, 150, 255])

optimized_landmark_color: [u8; 3]

Color for optimized landmarks RGB (default: gold [255, 200, 50])

se2_pose_radius: f32

Radius for SE2 pose markers (default: 0.5)

se2_box_half_size: f32

Half-size for SE2 pose box markers (default: 0.3)

initial_se2_color: [u8; 3]

Color for initial SE2 poses RGB (default: blue [100, 150, 255])

optimized_se2_color: [u8; 3]

Color for optimized SE2 poses RGB (default: green [50, 200, 100])

hessian_downsample_size: usize

Target size for Hessian downsampling (default: 100)

gradient_bar_width: usize

Target width for gradient visualization (default: 100)

graph_scale: f32

Graph scale factor for pose graph visualization

invert_camera_poses: bool

Invert camera poses for display (T_wc -> T_cw for BA)

visualization_mode: VisualizationMode

Visualization mode: iterative or initial-and-final only

Implementations

impl VisualizationConfig

pub fn new() -> Self

Create a new configuration with default values (show everything).

pub fn with_show_cameras(self, show: bool) -> Self

Set whether to show camera poses (SE3 frustums).

pub fn with_show_landmarks(self, show: bool) -> Self

Set whether to show 3D landmarks.

pub fn with_show_se2_poses(self, show: bool) -> Self

Set whether to show SE2 poses.

pub fn with_show_plots(self, show: bool) -> Self

Set whether to show time series plots.

pub fn with_show_matrices(self, show: bool) -> Self

Set whether to show matrix visualizations.

pub fn with_camera_fov(self, fov: f32) -> Self

Set camera frustum field of view in radians.

pub fn with_camera_aspect_ratio(self, ratio: f32) -> Self

Set camera frustum aspect ratio.

pub fn with_camera_frustum_scale(self, scale: f32) -> Self

Set camera frustum scale factor.

pub fn with_landmark_point_size(self, size: f32) -> Self

Set 3D landmark point size/radius.

pub fn with_initial_landmark_color(self, rgb: [u8; 3]) -> Self

Set color for initial landmarks (RGB).

pub fn with_optimized_landmark_color(self, rgb: [u8; 3]) -> Self

Set color for optimized landmarks (RGB).

pub fn with_se2_pose_radius(self, radius: f32) -> Self

Set SE2 pose marker radius.

pub fn with_se2_box_half_size(self, half_size: f32) -> Self

Set SE2 pose box half-size.

pub fn with_initial_se2_color(self, rgb: [u8; 3]) -> Self

Set color for initial SE2 poses (RGB).

pub fn with_optimized_se2_color(self, rgb: [u8; 3]) -> Self

Set color for optimized SE2 poses (RGB).

pub fn with_hessian_downsample_size(self, size: usize) -> Self

Set target size for Hessian downsampling.

pub fn with_gradient_bar_width(self, width: usize) -> Self

Set target width for gradient visualization.

pub fn with_graph_scale(self, scale: f32) -> Self

Set graph scale factor.

pub fn with_invert_camera_poses(self, invert: bool) -> Self

Set whether to invert camera poses (T_wc -> T_cw).

pub fn with_visualization_mode(self, mode: VisualizationMode) -> Self

Set visualization mode (iterative or initial-and-final).

Arguments

• mode - The visualization mode to use

Examples

use apex_solver::observers::{VisualizationConfig, VisualizationMode};

let config = VisualizationConfig::new()
    .with_visualization_mode(VisualizationMode::Iterative);

pub fn cameras_only() -> Self

Create a configuration that shows only camera poses (no landmarks).

Useful for pose graph visualization or when landmarks are too dense.

pub fn landmarks_only() -> Self

Create a configuration that shows only 3D landmarks (no cameras).

Useful for structure-from-motion point cloud visualization.

pub fn for_bundle_adjustment() -> Self

Create a configuration optimized for bundle adjustment.

• Inverts camera poses (T_wc -> T_cw for correct display)
• Disables SE2 poses (not used in BA)

pub fn for_pose_graph() -> Self

Create a configuration optimized for pose graph optimization.

• No camera pose inversion (poses are already T_cw)
• Disables landmarks (pose graphs don’t have 3D points)

Trait Implementations

impl Clone for VisualizationConfig

fn clone(&self) -> VisualizationConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for VisualizationConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for VisualizationConfig

fn default() -> Self

Returns the “default value” for a type.