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Introduce Dear ImGui alternative viz module
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‎.gitmodules‎

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[submodule "3rdparty/robin-map"]
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path = mola_metric_maps/3rdparty/robin-map
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url = https://github.com/Tessil/robin-map.git
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[submodule "mola_viz_imgui/3rdparty/imgui"]
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path = mola_viz_imgui/3rdparty/imgui
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url = https://github.com/ocornut/imgui.git
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branch = docking

‎mola_demos/mola-cli-launchs/kitti360_just_replay.yaml‎

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# MolaViz
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# =====================
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- name: viz
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type: mola::MolaViz
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type: mola::MolaVizImGui
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#verbosity_level: DEBUG
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params: ~ # none

‎mola_demos/mola-cli-launchs/kitti_just_replay.yaml‎

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# MolaViz
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# =====================
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- name: viz
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type: mola::MolaViz
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type: mola::MolaVizImGui
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#verbosity_level: DEBUG
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params: ~ # none

‎mola_viz/README.md‎

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# mola_viz
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GUI for MOLA
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GUI for MOLA based on nanogui
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Provides the C++ library `libmola-viz` with a flexible API for any other module
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Provides the C++ library `libmola_viz` with a flexible API for any other module
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to display windows, controls, etc.
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## Build and install

‎mola_viz/src/MolaViz.cpp‎

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}
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// ---------------------------------------------------------------------------
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// Dataset UI - ported to create_subwindow_from_description
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// Dataset UI
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// ---------------------------------------------------------------------------
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void MolaViz::dataset_ui_check_new_modules()
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catch (const std::exception& e)
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{
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MRPT_LOG_ERROR_STREAM(
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"Exception in execute_custom_code_on_background_scene():\n"
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<< e.what());
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"Exception in execute_custom_code_on_background_scene():\n"
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<< e.what());
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return false;
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}
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});

‎mola_viz_imgui/3rdparty/.clang-format‎

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DisableFormat: true
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SortIncludes: Never

‎mola_viz_imgui/3rdparty/imgui‎

Submodule imgui added at 934c6a5

‎mola_viz_imgui/3rdparty/imgui_static/CMakeLists.txt‎

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# ------------------------------------------------------------------------------
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# Static library target wrapping Dear ImGui (docking branch).
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#
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# Expected layout:
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# <this file's parent>/../../3rdparty/imgui/ ← git submodule
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#
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# The submodule must be the "docking" branch of
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# https://github.com/ocornut/imgui
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# ------------------------------------------------------------------------------
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cmake_minimum_required(VERSION 3.5)
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project(imgui_static LANGUAGES CXX)
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# Locate the submodule root relative to this file
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get_filename_component(_IMGUI_ROOT
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"${CMAKE_CURRENT_SOURCE_DIR}/../../3rdparty/imgui" ABSOLUTE)
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if(NOT EXISTS "${_IMGUI_ROOT}/imgui.h")
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message(FATAL_ERROR
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"Dear ImGui submodule not found at ${_IMGUI_ROOT}.\n"
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"Run: git submodule update --init --recursive")
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endif()
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# Find GLFW (already required by mrpt-gui, so it will be present)
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find_package(glfw3 REQUIRED)
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find_package(OpenGL REQUIRED)
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set(_IMGUI_SRCS
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${_IMGUI_ROOT}/imgui.cpp
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${_IMGUI_ROOT}/imgui_draw.cpp
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${_IMGUI_ROOT}/imgui_tables.cpp
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${_IMGUI_ROOT}/imgui_widgets.cpp
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# ${_IMGUI_ROOT}/imgui_demo.cpp # can be excluded in release builds
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${_IMGUI_ROOT}/misc/cpp/imgui_stdlib.cpp # std::string InputText support
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${_IMGUI_ROOT}/backends/imgui_impl_glfw.cpp
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${_IMGUI_ROOT}/backends/imgui_impl_opengl3.cpp
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)
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add_library(imgui_static STATIC ${_IMGUI_SRCS})
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set_target_properties(imgui_static PROPERTIES POSITION_INDEPENDENT_CODE TRUE)
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target_include_directories(imgui_static
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PUBLIC
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${_IMGUI_ROOT}
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${_IMGUI_ROOT}/backends
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${_IMGUI_ROOT}/misc/cpp
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)
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# Enable the docking branch feature set:
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target_compile_definitions(imgui_static
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PUBLIC
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IMGUI_ENABLE_DOCKING # activates docking API
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IMGUI_IMPL_OPENGL_LOADER_GLEW # or GLAD — adjust to whatever mrpt uses
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)
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target_link_libraries(imgui_static
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PUBLIC
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glfw
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OpenGL::GL
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)
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# Suppress warnings from third-party code
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if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
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target_compile_options(imgui_static PRIVATE -w)
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endif()
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# Export as an alias so parent CMake can use it as imgui::imgui
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add_library(imgui::imgui ALIAS imgui_static)

‎mola_viz_imgui/CMakeLists.txt‎

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# ------------------------------------------------------------------------------
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# A Modular Optimization framework for Localization and mApping
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# (MOLA)
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#
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# Copyright (C) 2018-2026, Jose Luis Blanco-Claraco, contributors (AUTHORS.md)
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# All rights reserved.
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# Released under GNU GPL v3. See LICENSE file
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# ------------------------------------------------------------------------------
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cmake_minimum_required(VERSION 3.5)
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project(mola_viz_imgui LANGUAGES CXX)
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# MOLA CMake scripts: "mola_xxx()"
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find_package(mola_common REQUIRED)
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# -- External dependencies ----------------------------------------------------
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find_package(mrpt-maps REQUIRED)
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find_package(mrpt-opengl REQUIRED)
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find_package(mrpt-obs REQUIRED)
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find_mola_package(mola_kernel)
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# GLFW is needed explicitly for our own GLFW window management.
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find_package(glfw3 REQUIRED)
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set(OpenGL_GL_PREFERENCE GLVND)
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find_package(OpenGL REQUIRED)
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# -- Dear ImGui static library (from 3rdparty submodule) ---------------------
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#
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# The submodule lives at: <repo_root>/3rdparty/imgui (docking branch)
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# The helper CMakeLists that builds it as a static lib lives at:
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# 3rdparty/imgui_static/CMakeLists.txt
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#
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add_subdirectory(3rdparty/imgui_static imgui_static_build)
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# After this, the target imgui::imgui is available.
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# -- Module sources -----------------------------------------------------------
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set(LIB_SRCS
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src/MolaVizImGui_handlers.cpp
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src/MolaVizImGui.cpp
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src/MolaVizImGui_widgets.cpp
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)
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set(LIB_PUBLIC_HDRS
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include/mola_viz_imgui/MolaVizImGui.h
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)
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mola_add_library(
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TARGET ${PROJECT_NAME}
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SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
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PUBLIC_LINK_LIBRARIES
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mola::mola_kernel
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mrpt::opengl
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mrpt::maps
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mrpt::obs
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OpenGL::GL
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PRIVATE_LINK_LIBRARIES
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imgui::imgui # Dear ImGui static lib (includes GLFW + OpenGL3 backends)
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# mrpt::gui # only needed for mrpt type helpers, not the nanogui window
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CMAKE_DEPENDENCIES
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mola_kernel
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mrpt-opengl
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mrpt-maps
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mrpt-obs
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)
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# -- Compiler options ---------------------------------------------------------
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# C++17 required for std::visit, if_constexpr, structured bindings. Already req by MRPT anyway.
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target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)

‎mola_viz_imgui/README.md‎

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# mola_viz_imgui
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GUI for MOLA based on Dear ImGui
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Provides the C++ library `libmola_viz_imgui` with a flexible API for any other module
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to display windows, controls, etc.
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## Build and install
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Refer to the [root MOLA repository](https://github.com/MOLAorg/mola).
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## Docs and examples
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See this package page [in the documentation](https://docs.mola-slam.org/latest/modules.html).
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## License
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This package is released under the GNU GPL v3 license. Other options available upon request.

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