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

Forthcoming

• 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 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 parentFrame is non-empty but the frame node does not yet exist in the scene, the code was silently falling back to treating the raw local-frame coordinates as world-space and moving the camera to the wrong position. Fix: return false so the camera is not moved until the frame node is present.

• feat: extend VizInterface for frame-aware decay clouds and camera look-at insert_point_cloud_with_decay() and update_viewport_look_at() now both accept an optional parentFrame argument (same semantics as the existing parentFrame on update_3d_object()): when non-empty, the backend looks up the named movable frame node and composes its current scene pose with the supplied point before inserting the cloud / moving the camera. This lets callers (e.g. mola_lidar_odometry) pass a local-odom-frame point while the camera and transient clouds still end up at the correct world-space position when a central mapper (mola_mapper_3d) is continuously repositioning the frame node. Both backends (MolaViz / MolaVizImGuiCore) and the MolaVizImGui forwarder are updated. The MOLA_KERNEL_VIZ_HAS_MOVABLE_FRAMES feature macro already covers both new parameters; no additional macro is added.

• Merge pull request #160 from MOLAorg/feat/viz-with-movable-frames feat: viz with movable frames

• feat: viz with movable frames

• Merge pull request #151 from MOLAorg/fix/imgui-slider fix: imgui slider

• fix: imgui slider

• Merge pull request #146 from MOLAorg/fix-upgrade-points-classes fix: upgrade not to use deprecated mrpt2 point cloud classes

• fix: upgrade not to use deprecated mrpt2 point cloud classes

• Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

2.9.0 (2026-05-11)

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