Skip to content

Add text logs to rerun algorithm visualizer #89

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
adamconkey merged 7 commits into from
Nov 2, 2025
Merged

Add text logs to rerun algorithm visualizer #89

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
d22473f
Incorporate logs into visualizer for graham scan
adamconkey Oct 13, 2025
e4b6e6d
Get graham visualization working with labels and tweaked colors
adamconkey Oct 13, 2025
ea665a1
Add logs for incremental vis and update colors and labels
adamconkey Oct 13, 2025
d328d76
Add blueprint
adamconkey Nov 2, 2025
0bf4484
Update blueprint
adamconkey Nov 2, 2025
7daf942
Add better initial vis corresponding with logs
adamconkey Nov 2, 2025
e5d3da1
Fix for clippy
adamconkey Nov 2, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Binary file added resources/geometer.rbl
View file
Open in desktop
Binary file not shown.
163 changes: 144 additions & 19 deletions src/bin/run_visualizer.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -92,18 +92,23 @@ impl RerunVisualizer {
edge_color: Option<[u8; 4]>,
draw_order: Option<f32>,
close_chain: bool,
show_labels: bool,
) -> Result<(), VisualizationError> {
let vertex_radius = vertex_radius.unwrap_or(1.0);
let vertex_color = vertex_color.unwrap_or(RandomColor::new().to_rgba_array());
let draw_order = draw_order.unwrap_or(30.0);

self.rec.log(
format!("{name}/vertices"),
&rerun::Points2D::new(vertices.iter().map(|v| (v.x as f32, v.y as f32)))
.with_radii([vertex_radius])
.with_colors([vertex_color])
.with_draw_order(draw_order),
)?;
let mut points = rerun::Points2D::new(vertices.iter().map(|v| (v.x as f32, v.y as f32)))
.with_radii([vertex_radius])
.with_colors([vertex_color])
.with_draw_order(draw_order);

if show_labels {
let vertex_ids = vertices.iter().map(|v| v.id.to_string()).collect_vec();
points = points.with_labels(vertex_ids);
}

self.rec.log(format!("{name}/vertices"), &points)?;

let edge_radius = edge_radius.unwrap_or(0.1);
let edge_color = edge_color.unwrap_or(RandomColor::new().to_rgba_array());
Expand Down Expand Up @@ -145,6 +150,7 @@ impl RerunVisualizer {
Some(polygon_color),
None,
true,
false,
)?;

for (i, mesh) in rerun_meshes.iter().enumerate() {
Expand Down Expand Up @@ -178,6 +184,7 @@ impl RerunVisualizer {
Some(hull_color),
Some(100.0),
true,
false,
)?;

Ok(())
Expand All @@ -204,16 +211,25 @@ impl RerunVisualizer {
// for color scheme I think looks decent
let init_vertex_color = [255, 255, 255, 255];
let polygon_color = [132, 90, 109, 255];
let hull_color = [25, 100, 126, 255];
let hull_color = [72, 125, 219, 255];
let check_color = [242, 192, 53, 255];
let valid_color = [52, 163, 82, 255];
let invalid_color = [163, 0, 0, 255];
let invalid_color = [235, 64, 52, 255];

let mut frame: i64 = 0;
self.rec.set_time_sequence("frame", frame);

self.visualize_nominal_polygon(polygon, name, polygon_color)?;

self.rec.log(
"logs",
&rerun::TextLog::new("Polygon to compute convex hull for")
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(polygon_color),
)?;

self.increment_frame(&mut frame);

// Show initial vertex establishing min angle order
let id_0 = polygon.vertex_ids()[0];
let v_0 = polygon.get_vertex(&id_0).unwrap();
Expand All @@ -222,7 +238,8 @@ impl RerunVisualizer {
&rerun::Points2D::new([(v_0.x as f32, v_0.y as f32)])
.with_radii([1.0])
.with_colors([init_vertex_color])
.with_draw_order(100.0),
.with_draw_order(100.0)
.with_labels([id_0.to_string()]),
)?;

let mut prev_step: Option<&GrahamScanStep> = None;
Expand All @@ -238,6 +255,17 @@ impl RerunVisualizer {
Some(hull_color),
None,
false,
true,
)?;

self.rec.log(
"logs",
&rerun::TextLog::new(format!(
"Initialized with hull edge {} -> {}",
step.hull_ids[0], step.hull_ids[1]
))
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(hull_color),
)?;
} else {
self.increment_frame(&mut frame);
Expand All @@ -257,7 +285,8 @@ impl RerunVisualizer {
.with_origins([(v_origin.x as f32, v_origin.y as f32)])
.with_radii([0.3])
.with_colors([check_color])
.with_draw_order(100.0),
.with_draw_order(100.0)
.with_labels([format!("{} -> {}", v_origin.id, v_head.id)]),
)?;

// Show next vertex used for angle test
Expand All @@ -268,7 +297,18 @@ impl RerunVisualizer {
&rerun::Points2D::new([(new_v.x as f32, new_v.y as f32)])
.with_radii([1.0])
.with_colors([check_color])
.with_draw_order(100.0),
.with_draw_order(100.0)
.with_labels([new_id.to_string()]),
)?;

self.rec.log(
"logs",
&rerun::TextLog::new(format!(
"Checking angle between vector {} -> {} and vertex {}",
v_origin.id, v_head.id, new_id
))
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(check_color),
)?;

self.rec.log(
Expand Down Expand Up @@ -299,26 +339,60 @@ impl RerunVisualizer {
Some(valid_color),
Some(100.0),
false,
true,
)?;

self.rec.log(
"logs",
&rerun::TextLog::new(format!(
"Pushing valid vertex to hull stack: {}",
new_id
))
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(valid_color),
)?;

self.increment_frame(&mut frame);
} else {
// Render final edge on stack to next vertex as invalid
// right turn
let mut ids = prev_step.expect("Prev step exists for i > 0").hull_tail(2);
ids.push(new_id);
self.visualize_vertex_chain(
&polygon.get_vertices(ids),
&polygon.get_vertices(ids.clone()),
&format!("{name}/alg_{i}/invalid"),
Some(1.0),
Some(invalid_color),
Some(0.3),
Some(invalid_color),
Some(100.0),
false,
true,
)?;

self.rec.log(
"logs",
&rerun::TextLog::new(format!(
"Popping invalid vertex from hull stack: {}",
ids[1]
))
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(invalid_color),
)?;

self.increment_frame(&mut frame);
// Keep visualization of vertex being checked for next iter
self.rec.log(
format!("{name}/alg_{}/next_vertex", i + 1),
&rerun::Points2D::new([(new_v.x as f32, new_v.y as f32)])
.with_radii([1.0])
.with_colors([check_color])
.with_draw_order(100.0)
.with_labels([new_id.to_string()]),
)?;
}

// Show computed hull for this step
self.increment_frame(&mut frame);
self.visualize_vertex_chain(
&polygon.get_vertices(step.hull_ids.clone()),
&format!("{name}/hull_{i}"),
Expand All @@ -328,6 +402,13 @@ impl RerunVisualizer {
Some(hull_color),
None,
true,
true,
)?;
self.rec.log(
"logs",
&rerun::TextLog::new(format!("Current hull stack: {:?}", step.hull_ids))
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(hull_color),
)?;
}
prev_step = Some(step);
Expand All @@ -341,6 +422,12 @@ impl RerunVisualizer {

self.increment_frame(&mut frame);
self.visualize_final_hull(&final_hull, name, hull_color)?;
self.rec.log(
"logs",
&rerun::TextLog::new(format!("Final hull: {:?}", final_hull.vertex_ids()))
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(hull_color),
)?;

Ok(())
}
Expand Down Expand Up @@ -369,13 +456,20 @@ impl RerunVisualizer {
// more interpretable way? For now just hardcoding values
// for color scheme I think looks decent
let polygon_color = [132, 90, 109, 255];
let hull_color = [25, 100, 126, 255];
let hull_color = [72, 125, 219, 255];
let new_vertex_color = [242, 192, 53, 255];
let ut_color = [52, 163, 82, 255];
let lt_color = [163, 0, 0, 255];
let ut_color = [212, 70, 110, 255];
let lt_color = [242, 138, 27, 255];

self.visualize_nominal_polygon(polygon, name, polygon_color)?;

self.rec.log(
"logs",
&rerun::TextLog::new("Polygon to compute convex hull for")
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(polygon_color),
)?;

// For each step, show upper/lower tangent vertex selection and
// how they connect to the current hull, followed by the
// resulting hull computed at that step
Expand All @@ -393,7 +487,16 @@ impl RerunVisualizer {
&rerun::Points2D::new([(new_v.x as f32, new_v.y as f32)])
.with_radii([1.0])
.with_colors([new_vertex_color])
.with_draw_order(100.0),
.with_draw_order(100.0)
.with_labels([new_id.to_string()]),
)?;
self.rec.log(
"logs",
&rerun::TextLog::new(format!(
"Connecting vertex {new_id} to hull with upper/lower tangents"
))
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(new_vertex_color),
)?;

self.increment_frame(&mut frame);
Expand All @@ -409,8 +512,14 @@ impl RerunVisualizer {
Some(ut_color),
Some(90.0),
false,
true,
)?;
self.rec.log(
"logs",
&rerun::TextLog::new(format!("Upper tangent: {new_id} -> {ut_id}"))
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(ut_color),
)?;

self.visualize_vertex_chain(
&polygon.get_vertices(vec![lt_id, new_id]),
&format!("{name}/alg_{i}/lower_tangent"),
Expand All @@ -420,6 +529,13 @@ impl RerunVisualizer {
Some(lt_color),
Some(90.0),
false,
true,
)?;
self.rec.log(
"logs",
&rerun::TextLog::new(format!("Lower tangent: {new_id} -> {lt_id}"))
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(lt_color),
)?;
}

Expand All @@ -434,6 +550,13 @@ impl RerunVisualizer {
Some(hull_color),
Some(50.0),
true,
true,
)?;
self.rec.log(
"logs",
&rerun::TextLog::new(format!("Current hull stack: {:?}", step.hull_ids))
.with_level(rerun::TextLogLevel::DEBUG)
.with_color(hull_color),
)?;

self.clear_recursive(format!("{name}/alg_{i}"))?;
Expand Down Expand Up @@ -464,6 +587,7 @@ impl RerunVisualizer {
Some(polygon_color),
Some(10.0),
true,
false,
)
}

Expand All @@ -482,6 +606,7 @@ impl RerunVisualizer {
Some(hull_color),
Some(200.0),
true,
true,
)
}

Expand Down