mola_kernel

MOLA kernel library, providing the definition of essential virtual interfaces and data types.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

Changelog for package mola_kernel

Forthcoming

• fix: removed unused mrpt::gui dependency and the unused KeyframeMapCapable interface (dead code from an abandoned trajectory-rebake experiment).
• feat(kernel): added child_loggers() hook to ExecutableBase so modules can expose background-thread loggers for console capture.
• feat: ComboBox GUI widget gained an optional fixed_width parameter (both backends).
• Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-07-17)

• fix: default-dock Dataset_UI panel at top; fix Console dock on old layouts Add WindowDescription::dock_top_by_default so a window without a saved imgui.ini entry gets docked into a strip reserved at the top of the main window instead of floating; enabled for the per-module Dataset_UI panel. Also make the Console's default bottom-dock (and the new top-dock) key off whether that specific window has a saved imgui.ini entry, instead of whether the whole ini file already existed. This fixes both never docking new window kinds added to an already-existing layout, and splitting a stale, no-longer-leaf dock node once more than one default dock has been applied.

• fix: avoid enque on shutdown

• Merge branch 'feat/imviz-metric-plots' into develop

• Remove deprecated nanogui-specific VizInterface API create_subwindow(), enqueue_custom_nanogui_code(), subwindow_grid_layout() and subwindow_move_resize() have no remaining callers now that create_subwindow_from_description() and enqueue_custom_gui_code() cover their use cases on both backends.

• Merge pull request #172 from MOLAorg/feat/imviz-metric-plots feat(mola_viz_imgui): add metric time-series plot windows

• feat(mola_viz_imgui): add metric time-series plot windows Adds a backend-agnostic register_metric()/push_metric() API to VizInterface (guarded by MOLA_KERNEL_VIZ_HAS_METRICS) so any MOLA module can stream timestamped scalar values to live, autoscrolling plot windows opened from a new "Plots" menu in the mola_viz_imgui (ImGui/ImPlot) backend. The nanogui MolaViz backend implements the API as a no-op, mirroring the set_menu_bar precedent. The Plots menu also gives the Console window its first working close/reopen toggle. Vendors ImPlot as a submodule under mola_viz_imgui/3rdparty/implot.

• NavStateFilter: introduce optional virtual georef setter/getter

• Merge pull request #165 from MOLAorg/imgui-window-icon feat: mola viz imgui set window icon

• feat: mola viz imgui set window icon

• Merge pull request #163 from MOLAorg/fix/race-conditions fix(mola_kernel): guard RawDataSourceBase consumer list against concu…

• fix(mola_kernel): guard RawDataSourceBase consumer list against concurrent attach mola_launcher initializes modules in parallel threads (executor_thread), so when two consumers subscribe to the SAME raw_data_source (e.g. both LidarOdometry and a mapper module use [raw_data_source: dataset_input]{.title-ref}), both call attachToDataConsumer() concurrently and race on the unsynchronized std::vector<RawDataConsumer*> push_back. This corrupted the heap and caused an intermittent SIGSEGV at startup (caught via coredump: _M_realloc_insert into a garbage pointer under RawDataSourceBase::attachToDataConsumer <- FrontEndBase:: initialize <- MolaLauncherApp::executor_thread). Add a mutex guarding rdc_: lock the push_back, and snapshot the list under the lock in sendObservationsToFrontEnds() before dispatching (dispatch itself runs without the lock so onNewObservation() is not serialized). Validated: 16/16 SharedMapOnly startups on MulRan DCC01 with two consumers, 0 crashes / 0 cores.

• Merge pull request #162 from MOLAorg/feat/viz-decay-lookat-frame-aware feat: frame-aware parentFrame for decay clouds and camera look-at

• fix: decay eviction uses per-entry container; look-at fails on missing frame Four reviewer findings, all confirmed valid:

  1. VizInterface.h comment: add update_viewport_look_at() to the list of APIs covered by MOLA_KERNEL_VIZ_HAS_MOVABLE_FRAMES (it was omitted). 2/3. Decay cloud eviction (both backends): the eviction path inside insert_point_cloud_with_decay() was removing the oldest cloud from the current insertion's container rather than the container that cloud was originally placed in. If parentFrame ever changes between calls the wrong container would be used, leaking the cloud in the scene. Fix: add a [container]{.title-ref} member to DecayingCloud and store the owning container at insert time; use it at eviction time. 4/5. Look-at frame not found (both backends): when

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