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

3.1.1 (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

• gui: limit width of the speed rate UI

• Merge pull request #183 from MOLAorg/feat/child-loggers-console-hook Let a module expose child loggers for console capture

• feat(kernel): let a module expose child loggers for console capture ExecutableBase gains child_loggers(), an optional hook returning additional mrpt::system::COutputLogger instances a module owns but does not log through itself (e.g. a library engine run on its own background thread). mola_viz_imgui's console window now discovers and hooks these the same way it already does for the module itself, tagged with a "module/child" source name, so their output is captured without the owning module having to relay each message through its own logger (which would otherwise re-apply the module's own verbosity gating). Motivated by mola_mapper's background loop-closure engine (mola_sm_loop_closure), which has its own independent logger whose output was previously invisible to the imgui console.

• 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.

• imgui windows: append profile name to window title

• Merge pull request #179 from MOLAorg/chore/clang-format-viz-handlers style: clang-format fix in MolaVizImGui_handlers.cpp

• perf: avoid a redundant image-buffer copy and heap alloc per frame Two per-frame savings in toCompressedImage():

  - The temporary sensor_msgs::msg::CompressedImage only needs to live for the duration of this call; a stack-local avoids a heap allocation cv_bridge::toCvCopy() doesn't require (it takes the message by const reference, unlike the raw-Image path's toCvShare(), which needs a shared_ptr).

  - cv_ptr (and the cv::Mat it owns) is likewise local to this call, so copying it into the CObservationImage with mrpt::img::SHALLOW_COPY (ref-counted) instead of DEEP_COPY avoids duplicating the decoded pixel buffer a second time. Re-verified end-to-end against the Oxford Spires dataset: no errors. (CodeRabbit finding on PR #178)

• style: clang-format fix in MolaVizImGui_handlers.cpp Pre-existing violation on develop (introduced by 3de93af2, whose title claims "+ clang-format" but didn't quite match clang-format-14's formatting for the multi-clause "else if (init; cond)" statement), currently failing CI clang-format-check on develop itself and blocking that check from going green on any PR against this repo.

• chore(viz): fixed-width Hz in sensor info overlay + clang-format

• Contributors: Jose Luis Blanco-Claraco

• gui: limited width of the speed-rate UI control; imgui windows now show the profile name in their title.

• feat(kernel): console window now captures child-module loggers (e.g. background loop-closure engine) via the new child_loggers() hook.

• feat: ComboBox GUI widget gained an optional fixed_width parameter (both backends).

• perf: avoided a redundant image-buffer copy and heap allocation per frame in toCompressedImage(); fixed a pre-existing clang-format violation blocking CI; fixed-width Hz display in the sensor info overlay.

• Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-07-17)

• fix format

• feat: remove the obsolete text messages overlay mechanism in

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