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

3.2.0 (2026-08-21)

• Fix mola_viz_imgui GUI rendering nothing depending on link order MolaVizImGui::DEFAULT_WINDOW_NAME was copy-initialized from MolaVizImGuiCore::DEFAULT_WINDOW_NAME, a std::string global in another translation unit, whose initialization order is unspecified. When the module TU is initialized first, the copy ends up empty, the host window gets registered under "" and every VizInterface call (which defaults to the literal "main" from VizInterface.h) misses, so the window opens but stays empty, with "unknown parentWindow 'main'" warnings. Both string objects are now initialized from a new constexpr literal, DEFAULT_WINDOW_NAME_LITERAL, so they no longer depend on each other.
• 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

• 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

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