mola_viz_imgui

GUI for MOLA based on Dear ImGui

Provides the C++ library libmola_viz_imgui 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_imgui

3.0.0 (2026-07-17)

• fix format

• feat: remove the obsolete text messages overlay mechanism in mola_viz_imgui (superseded by console subwindow)

• 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: dont use deprecated mrpt2.x point cloud classes

• feat: autodock log window; update menu item names

• transparent icon

• 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

• fix: load params from yaml

• 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 #170 from MOLAorg/fix/console-log-window-hardening fix(mola_viz_imgui): Console log window perf/config follow-ups

• fix(mola_viz_imgui): Console log window perf/config follow-ups

  - Default the pipeline-wide log capture level to INFO instead of DEBUG: capturing DEBUG from every module forced every MRPT_LOG_DEBUG_STREAM() callsite in the whole pipeline to always format its message just to feed the sink, even though the UI hid Debug entries by default anyway. Now runtime-adjustable from a new "Capture" combo in the Console toolbar (with a tooltip explaining it's distinct from the Levels display filter), and re-applied to already-hooked modules on every discovery tick so a runtime change takes effect immediately.

  - Avoid a full deque-of-strings copy under ConsoleLogSink's mutex on every rendered frame: added a lock-free version() counter (bumped on push()/clear()) so the Console window only re-snapshots when the sink actually changed, instead of unconditionally at up to target_fps_ Hz --that copy was contending with module threads trying to push() new lines. See MRPT/mrpt#1375 for a related fix in COutputLogger itself (an unsynchronized concurrent access to its callback list, triggered by this window's pattern of registering a callback on an already-running module from the GUI thread).

• fix(mola_viz_imgui): sensor Hz readout underestimates real rate show_common_sensor_info() is invoked once per GUI frame, not once per new observation, since render_sensor_windows() redraws the last-seen observation every frame while waiting for the next one. The Hz low-pass filter was treating each of those repeat-frame calls (same timestamp, At=0) as a genuine 0 Hz sample, dragging the running estimate well below the sensor's real rate. Now the filter is only updated when the timestamp actually advances.

• Merge pull request #166 from MOLAorg/feat/console-log-window feat: add auto-exposed Console log window to MolaVizImGui

• fix: address coderabbitai review on Console log window

  - ConsoleLogSink::push() now also evicts entries past window_seconds, not just past max_entries, so the rolling buffer honors both bounds as documented.

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