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Introduce Dear ImGui alternative viz module #112

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4 changes: 4 additions & 0 deletions .gitmodules
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Original file line number Diff line number Diff line change
@@ -1,3 +1,7 @@
[submodule "3rdparty/robin-map"]
path = mola_metric_maps/3rdparty/robin-map
url = https://github.com/Tessil/robin-map.git
[submodule "mola_viz_imgui/3rdparty/imgui"]
path = mola_viz_imgui/3rdparty/imgui
url = https://github.com/ocornut/imgui.git
branch = docking
2 changes: 1 addition & 1 deletion mola_demos/mola-cli-launchs/kitti360_just_replay.yaml
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Expand Up @@ -37,6 +37,6 @@ modules:
# MolaViz
# =====================
- name: viz
type: mola::MolaViz
type: mola::MolaVizImGui
#verbosity_level: DEBUG
params: ~ # none
2 changes: 1 addition & 1 deletion mola_demos/mola-cli-launchs/kitti_just_replay.yaml
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Expand Up @@ -37,6 +37,6 @@ modules:
# MolaViz
# =====================
- name: viz
type: mola::MolaViz
type: mola::MolaVizImGui
#verbosity_level: DEBUG
params: ~ # none
4 changes: 2 additions & 2 deletions mola_viz/README.md
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# mola_viz
GUI for MOLA
GUI for MOLA based on nanogui

Provides the C++ library `libmola-viz` with a flexible API for any other module
Provides the C++ library `libmola_viz` with a flexible API for any other module
to display windows, controls, etc.

## Build and install
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2 changes: 1 addition & 1 deletion mola_viz/src/MolaViz.cpp
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Expand Up @@ -1046,7 +1046,7 @@ void MolaViz::spinOnce()
}

// ---------------------------------------------------------------------------
// Dataset UI - ported to create_subwindow_from_description
// Dataset UI
// ---------------------------------------------------------------------------

void MolaViz::dataset_ui_check_new_modules()
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2 changes: 2 additions & 0 deletions mola_viz_imgui/3rdparty/.clang-format
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DisableFormat: true
SortIncludes: Never
1 change: 1 addition & 0 deletions mola_viz_imgui/3rdparty/imgui
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Submodule imgui added at 934c6a
68 changes: 68 additions & 0 deletions mola_viz_imgui/3rdparty/imgui_static/CMakeLists.txt
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# ------------------------------------------------------------------------------
# Static library target wrapping Dear ImGui (docking branch).
#
# Expected layout:
# <this file's parent>/../../3rdparty/imgui/ ← git submodule
#
# The submodule must be the "docking" branch of
# https://github.com/ocornut/imgui
# ------------------------------------------------------------------------------

cmake_minimum_required(VERSION 3.5)
project(imgui_static LANGUAGES CXX)

# Locate the submodule root relative to this file
get_filename_component(_IMGUI_ROOT
"${CMAKE_CURRENT_SOURCE_DIR}/../../3rdparty/imgui" ABSOLUTE)

if(NOT EXISTS "${_IMGUI_ROOT}/imgui.h")
message(FATAL_ERROR
"Dear ImGui submodule not found at ${_IMGUI_ROOT}.\n"
"Run: git submodule update --init --recursive")
endif()

# Find GLFW (already required by mrpt-gui, so it will be present)
find_package(glfw3 REQUIRED)
find_package(OpenGL REQUIRED)

set(_IMGUI_SRCS
${_IMGUI_ROOT}/imgui.cpp
${_IMGUI_ROOT}/imgui_draw.cpp
${_IMGUI_ROOT}/imgui_tables.cpp
${_IMGUI_ROOT}/imgui_widgets.cpp
# ${_IMGUI_ROOT}/imgui_demo.cpp # can be excluded in release builds
${_IMGUI_ROOT}/misc/cpp/imgui_stdlib.cpp # std::string InputText support
${_IMGUI_ROOT}/backends/imgui_impl_glfw.cpp
${_IMGUI_ROOT}/backends/imgui_impl_opengl3.cpp
)

add_library(imgui_static STATIC ${_IMGUI_SRCS})
set_target_properties(imgui_static PROPERTIES POSITION_INDEPENDENT_CODE TRUE)

target_include_directories(imgui_static
PUBLIC
${_IMGUI_ROOT}
${_IMGUI_ROOT}/backends
${_IMGUI_ROOT}/misc/cpp
)

# Enable the docking branch feature set:
target_compile_definitions(imgui_static
PUBLIC
IMGUI_ENABLE_DOCKING # activates docking API
IMGUI_IMPL_OPENGL_LOADER_GLEW # or GLAD — adjust to whatever mrpt uses
)
Comment on lines +50 to +54
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⚠️ Potential issue | 🔴 Critical

🧩 Analysis chain

🏁 Script executed:

#!/bin/bash
set -euo pipefail

# First, verify the loader macro is set at lines 50-54
echo "=== Checking CMakeLists.txt at specified lines ==="
nl -ba mola_viz_imgui/3rdparty/imgui_static/CMakeLists.txt | sed -n '48,60p'

echo ""
echo "=== Searching for OpenGL loader macros and GLEW declarations ==="
rg -n "IMGUI_IMPL_OPENGL_LOADER_GLEW|find_package\(GLEW|GLEW::|libglew|glew" \
  -g 'CMakeLists.txt' -g 'package.xml' 2>/dev/null || echo "No matches found"

echo ""
echo "=== Broader search for GLEW in CMakeLists files ==="
rg -i "glew" -g 'CMakeLists.txt' -n || echo "No GLEW mentions found"

Repository: MOLAorg/mola

Length of output: 166

🏁 Script executed:

#!/bin/bash
set -euo pipefail

# Check if the file exists and read specified lines
echo "=== Checking CMakeLists.txt at specified lines ==="
if [ -f "mola_viz_imgui/3rdparty/imgui_static/CMakeLists.txt" ]; then
  sed -n '48,60p' mola_viz_imgui/3rdparty/imgui_static/CMakeLists.txt | cat -n
else
  echo "File not found: mola_viz_imgui/3rdparty/imgui_static/CMakeLists.txt"
  echo "Checking available structure:"
  fd -t f "CMakeLists.txt" | head -20
fi

echo ""
echo "=== Searching for OpenGL loader macros and GLEW declarations ==="
rg -n "IMGUI_IMPL_OPENGL_LOADER_GLEW|find_package.*GLEW|GLEW::|libglew" \
  -g 'CMakeLists.txt' -g 'package.xml' 2>/dev/null || echo "No direct GLEW matches found"

echo ""
echo "=== Broader case-insensitive search for GLEW in CMakeLists files ==="
rg -i "glew" -g 'CMakeLists.txt' -n || echo "No GLEW mentions found"

echo ""
echo "=== Search for target_link_libraries in imgui CMakeLists ==="
rg -A 5 "target_link_libraries.*imgui_static" mola_viz_imgui/3rdparty/imgui_static/CMakeLists.txt || echo "No target_link_libraries found"

Repository: MOLAorg/mola

Length of output: 1023

🏁 Script executed:

#!/bin/bash
set -euo pipefail

echo "=== Parent directory structure ==="
ls -la mola_viz_imgui/3rdparty/imgui_static/ | head -20

echo ""
echo "=== Full CMakeLists.txt for imgui_static ==="
cat mola_viz_imgui/3rdparty/imgui_static/CMakeLists.txt

echo ""
echo "=== Check parent CMakeLists for GLEW ==="
if [ -f "mola_viz_imgui/CMakeLists.txt" ]; then
  echo "Found mola_viz_imgui/CMakeLists.txt:"
  rg -i "glew|IMGUI_IMPL_OPENGL" mola_viz_imgui/CMakeLists.txt -n || echo "No GLEW or IMGUI_IMPL in parent"
fi

echo ""
echo "=== Search for imgui backend implementation files ==="
find mola_viz_imgui -name "*imgui_impl*" -type f 2>/dev/null | head -10

Repository: MOLAorg/mola

Length of output: 2607

🏁 Script executed:

#!/bin/bash
set -euo pipefail

echo "=== Check for GLEW usage in entire project ==="
rg -i "glew" --type cmake -n | head -20 || echo "No GLEW in CMake files"

echo ""
echo "=== Check for other OpenGL loaders (GLAD, GL3W) ==="
rg -i "IMGUI_IMPL_OPENGL_LOADER_GLAD|IMGUI_IMPL_OPENGL_LOADER_GL3W|GLAD|GL3W" --type cmake -n | head -20

echo ""
echo "=== Check for MRPT or mrpt references ==="
rg -i "mrpt" mola_viz_imgui --type cmake -n

echo ""
echo "=== Check top-level CMakeLists or package.xml for dependencies ==="
if [ -f "CMakeLists.txt" ]; then
  echo "Top-level CMakeLists.txt snippet:"
  head -50 CMakeLists.txt
fi

echo ""
echo "=== Check for package.xml ==="
if [ -f "package.xml" ]; then
  cat package.xml | head -40
fi

Repository: MOLAorg/mola

Length of output: 1551

OpenGL loader macro is inconsistent with declared dependencies.

IMGUI_IMPL_OPENGL_LOADER_GLEW is enabled, but GLEW is neither found via find_package() nor linked in target_link_libraries(). The imgui OpenGL3 backend requires this dependency to compile. This will fail unless GLEW is provided by a parent project or the macro is changed to match an available loader.

Fix: Use GLAD or remove to use default

If GLEW is unavailable, either switch to GLAD (if available) or remove the macro line to use the imgui default loader selection:

 target_compile_definitions(imgui_static
   PUBLIC
     IMGUI_ENABLE_DOCKING       # activates docking API
-    IMGUI_IMPL_OPENGL_LOADER_GLEW  # or GLAD — adjust to whatever mrpt uses
 )

Alternatively, add GLEW dependency if it's required by MRPT or another dependency.

🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@mola_viz_imgui/3rdparty/imgui_static/CMakeLists.txt` around lines 50 - 54,
The CMakeLists sets the compile definition IMGUI_IMPL_OPENGL_LOADER_GLEW for the
target imgui_static but never finds or links GLEW; either remove that definition
so imgui uses its default loader or switch it to a loader you actually provide
(e.g., IMGUI_IMPL_OPENGL_LOADER_GLAD) and then add the corresponding
find_package() and target_link_libraries(imgui_static ...) entries (or add
find_package(GLEW) and link GLEW) to ensure the declared loader macro matches an
available dependency.


target_link_libraries(imgui_static
PUBLIC
glfw
OpenGL::GL
)

# Suppress warnings from third-party code
if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
target_compile_options(imgui_static PRIVATE -w)
endif()

# Export as an alias so parent CMake can use it as imgui::imgui
add_library(imgui::imgui ALIAS imgui_static)
68 changes: 68 additions & 0 deletions mola_viz_imgui/CMakeLists.txt
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# ------------------------------------------------------------------------------
# A Modular Optimization framework for Localization and mApping
# (MOLA)
#
# Copyright (C) 2018-2026, Jose Luis Blanco-Claraco, contributors (AUTHORS.md)
# All rights reserved.
# Released under GNU GPL v3. See LICENSE file
# ------------------------------------------------------------------------------

cmake_minimum_required(VERSION 3.5)
project(mola_viz_imgui LANGUAGES CXX)

# MOLA CMake scripts: "mola_xxx()"
find_package(mola_common REQUIRED)

# -- External dependencies ----------------------------------------------------
find_package(mrpt-maps REQUIRED)
find_package(mrpt-opengl REQUIRED)
find_package(mrpt-obs REQUIRED)
find_mola_package(mola_kernel)

# GLFW is needed explicitly for our own GLFW window management.
find_package(glfw3 REQUIRED)

set(OpenGL_GL_PREFERENCE GLVND)
find_package(OpenGL REQUIRED)

# -- Dear ImGui static library (from 3rdparty submodule) ---------------------
#
# The submodule lives at: <repo_root>/3rdparty/imgui (docking branch)
# The helper CMakeLists that builds it as a static lib lives at:
# 3rdparty/imgui_static/CMakeLists.txt
#
add_subdirectory(3rdparty/imgui_static imgui_static_build)
# After this, the target imgui::imgui is available.

# -- Module sources -----------------------------------------------------------
set(LIB_SRCS
src/MolaVizImGui_handlers.cpp
src/MolaVizImGui.cpp
src/MolaVizImGui_widgets.cpp
)
set(LIB_PUBLIC_HDRS
include/mola_viz_imgui/MolaVizImGui.h
)

mola_add_library(
TARGET ${PROJECT_NAME}
SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
PUBLIC_LINK_LIBRARIES
mola::mola_kernel
mrpt::opengl
mrpt::maps
mrpt::obs
OpenGL::GL
PRIVATE_LINK_LIBRARIES
imgui::imgui # Dear ImGui static lib (includes GLFW + OpenGL3 backends)
# mrpt::gui # only needed for mrpt type helpers, not the nanogui window
CMAKE_DEPENDENCIES
mola_kernel
mrpt-opengl
mrpt-maps
mrpt-obs
)

# -- Compiler options ---------------------------------------------------------
# C++17 required for std::visit, if_constexpr, structured bindings. Already req by MRPT anyway.
target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
14 changes: 14 additions & 0 deletions mola_viz_imgui/README.md
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# 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](https://github.com/MOLAorg/mola).

## Docs and examples
See this package page [in the documentation](https://docs.mola-slam.org/latest/modules.html).

## License
This package is released under the GNU GPL v3 license. Other options available upon request.
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