mola_viz

GUI for MOLA based on nanogui (for the Dear ImGui alternative see mola_viz_imgui)

Provides the C++ library libmola_viz with a flexible API for any other module to display windows, controls, etc.

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_viz

3.2.0 (2026-08-21)

• Remove stray COLCON_IGNORE from mola_viz, mola_viz_imgui Both were accidentally swept into 2c5735f5 ("declare transform_frame() last..."), unrelated to that commit's actual content. With colcon no longer building them from source, any package depending on mola_viz (e.g. mola_mapper's exec_depend) falls back to the stale public ros-<distro>-mola-viz release, which pulls in a matching stale ros-<distro>-mola-kernel via apt -- and since /opt/ros/<distro>/include is searched before the workspace install prefix, that stale mola_kernel silently shadows the freshly-built one, breaking any translation unit that needs a recent mola_kernel API (ChildLoggerName/child_loggers()).
• Merge pull request #192 from MOLAorg/feat/map-frame-gauge-change Support re-expressing estimator and pose-list state in a new frame
• Merge remote-tracking branch 'origin/feat/map-frame-gauge-change' into feat/map-frame-gauge-change
• mola_kernel: declare transform_frame() last; test SearchablePoseList frame change Appending the new optional virtual only grows the vtable, whereas the previous mid-list position shifted the slot index of the three virtuals after it, breaking any prebuilt NavStateFilter plugin. A note asks that future optional virtuals also go at the end. Adds regression coverage for SearchablePoseList::transform_left_multiply() in both storage modes: that the kd-tree follows the transformed poses (verified to fail if the spatial index is left stale), that the empty and identity cases are no-ops, and that the id-keyed lookup survives.
• Merge branch 'develop' into feat/map-frame-gauge-change
• Contributors: Jose Luis Blanco-Claraco

3.1.1 (2026-08-10)

3.1.0 (2026-08-06)

• Merge pull request #187 from MOLAorg/feat/incremental-point-cloud-kdtree-bake Bake IncrementalPointCloud's k-d tree index (mm-ipc-bake-kdtree)
• changelog
• Merge pull request #180 from MOLAorg/feat/combobox-fixed-width GUI: add optional fixed_width to ComboBox (both backends)
• Add optional fixed_width to ComboBox, honored by both GUI backends Without it, ImGui::Combo defaults to an item width that scales with the window, so short option lists visibly balloon in wide sub-windows (seen when packing a ComboBox next to a checkbox in a Row). 0 keeps each backend's current auto-sizing behavior.
• Contributors: Jose Luis Blanco-Claraco
• feat: ComboBox GUI widget gained an optional fixed_width parameter (both backends).
• Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-07-17)

• 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.

• 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 #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

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