Module visualization 

Rerun observer for real-time optimization visualization.

This module provides a Rerun-based observer that implements the OptObserver trait, enabling clean separation between optimization logic and visualization.

Features

• Time series plots: Cost, gradient norm, damping parameter, step quality
• Sparse Hessian visualization: Heat map showing matrix structure and values
• Gradient visualization: Vector representation with magnitude encoding
• Manifold state: Real-time pose updates for SE2/SE3 problems
• Initial graph visualization: Display starting configuration

Observer Pattern Integration

Instead of being tightly coupled to the optimizer loop, RerunObserver implements the OptObserver trait. Register it with any optimizer and it will automatically receive updates at each iteration.

Feature Flag

This module requires the visualization feature to be enabled:

apex-solver = { version = "1.0", features = ["visualization"] }

Examples

Basic Usage

use apex_solver::{JacobianMode, LevenbergMarquardt, LevenbergMarquardtConfig};
use apex_solver::observers::RerunObserver;


let config = LevenbergMarquardtConfig::new().with_max_iterations(100);
let mut solver = LevenbergMarquardt::with_config(config);

// Add Rerun visualization observer
let rerun_observer = RerunObserver::new(true)?;
solver.add_observer(rerun_observer);

let result = solver.optimize(&mut problem)?;

Save to File Instead of Live Viewer

let rerun_observer = RerunObserver::new_with_options(
    true,
    Some("my_optimization.rrd")
)?;
// ... add to solver and optimize ...

Structs

RerunObserver

Rerun observer for real-time optimization visualization.

VisualizationConfig

Configuration for visualization options in RerunObserver.

Enums

VisualizationMode

Controls when visualization updates occur during optimization.