feat: Add Rerun-based log visualization support via a new cu29-logviz#768
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gbin
reviewed
Feb 6, 2026
…ting
- replace gen_cumsgs proc-macro payload type branching with runtime calls to
`cu29_logviz::log_payload_auto`
- add `Any/TypeId` dispatch in `cu29-logviz` for `CuImage<Vec<u8>>`,
`PointCloud`, `Transform3D<f32/f64>`, and `ImuPayload`, with fallback logging
- restore `PointCloudSoa<N>` rerun point logging by detecting SoA payloads and
extracting `{len,x,y,z}` into `Points3D` instead of scalar fallback
- add/extend logviz tests for auto-dispatch and PointCloudSoa handling
- replace `CARGO_FEATURE_LOGVIZ` env checks with Cargo feature wiring
(`cu29-derive/logviz`, `cu29/logviz`, demo feature forwarding)
- update trybuild stderr snapshots affected by cfg-warning removal
gbin
requested changes
Feb 9, 2026
Add an optional rerun feature/dependency in cu-sensor-payloads. Implement rerun::AsComponents for CuImage, PointCloud, and PointCloudSoa. Add tests for component emission and image format mapping.
Add an optional rerun feature/dependency in cu-spatial-payloads. Implement rerun::AsComponents for Transform3D<f32> and Transform3D<f64>. Add tests for transform component emission and translation extraction.
Enable payload rerun features in cu29-logviz dependencies. Replace wrapper-based dispatch with direct payload trait logging. Remove local as_components/convert modules and update tests for payload usage.
Enable payload rerun features under the demo logviz feature. Remove local wrapper usage in custom logviz path and align transform assertions with current matrix layout.
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Summary
cu29-logvizcrate and generatedlogvizemitters.cu-logviz-demoexample with standard and customlogvizbinaries plus updatedREADMEguidance.Related issues
Details
core/cu29_logvizprovides log helpers for images, point clouds, transforms, IMU, time-of- validity handling, and a JSON fallback logger, plus as_components adapters for Rerun component logging.gen_cumsgs!now emits aLogvizDataSet implbehindcfg(feature = "logviz"), with type-based dispatch forCuImage<Vec<u8>>,PointCloud,PointCloudSoa,Transform3D<f32/f64>, andmuPayload, falling back to JSON flattening for other payloads.-logvizand-logviz-custombinaries; includes sample tasks, config, and tests.cu29-logvizandcu-logviz-demo, addcu-spatial-payloadsandserde_json, and refresh compile-fail snapshots for the newlogvizcfg.Impact
gen_cumsgs!.logvizfeature path with new dependencies and test coverage, plus updated documentation for usage.Test