Class MolaVizImGui

• Defined in File MolaVizImGui.h

Nested Relationships

Nested Types

• Struct MolaVizImGui::DataPerDatasetUI

• Struct MolaVizImGui::DecayingCloud

• Struct MolaVizImGui::PerWindowData

• Struct PerWindowData::PendingSensorObs

• Struct MolaVizImGui::SubWindowState

Inheritance Relationships

Base Types

• public mola::ExecutableBase

• public mola::VizInterface

Class Documentation

class MolaVizImGui : public mola::ExecutableBase, public mola::VizInterface

MOLA visualization — Dear ImGui docking-branch backend.

Implements VizInterface using Dear ImGui + GLFW + OpenGL 3. For the nanogui backend see MolaViz.

Window management

Each “parentWindow” maps to one GLFW window. Sub-windows created via create_subwindow_from_description() become ImGui windows rendered inside the GLFW host; the ImGui docking system handles placement and persistence via imgui.ini automatically.

Threading model

All ImGui and GLFW calls happen on guiThread_. Other threads enqueue tasks via the same guiThreadPendingTasks_ / guiThreadPendingTasksMtx_ mechanism as MolaViz. LiveString polling is done inline every frame.

mola-viz-imgui main API

using window_name_t = std::string

using subwindow_name_t = std::string

static const window_name_t DEFAULT_WINDOW_NAME

static bool IsRunning()

static MolaVizImGui *Instance()

GUI update handler registry (shared with MolaViz)

using update_handler_t = std::function<void(const mrpt::rtti::CObject::Ptr&, void *subWinHandle, const window_name_t &parentWin, const std::string &subWindowTitle, MolaVizImGui *instance, const mrpt::containers::yaml *extra_parameters)>

Sensor-observation rendering handler signature. subWin is nullptr for the ImGui backend — use subWindowTitle to key ImGui state instead.

using class_name_t = std::string

static void register_gui_handler(const class_name_t &name, const update_handler_t &handler)

static void register_gui_cleanup(const std::function<void()> &cleanup)

Register a callback that will be invoked on the GUI thread during shutdown, with the GL context still current, before any GLFW window is destroyed. Handlers use this to release GL resources held in function-local static state (FBOs, textures, VAOs in CImGuiSceneView, …) without risking calls on a dead context.

Module parameters

double console_text_font_size_ = 13.0

unsigned int max_console_lines_ = 12

bool show_rgbd_as_point_cloud_ = false

double assumed_sensor_rate_hz_ = 10.0

int target_fps_ = 60

std::string imgui_app_name_ = "default"

Identifier used to persist ImGui window layout / docking state across runs: each distinct value maps to its own imgui_<app_name>.ini file under $XDG_CONFIG_HOME/mola/ (or $HOME/.config/mola/). Set a different name per launch config (e.g. “kitti_replay”, “live_lio”) to keep layouts separate. Empty string disables persistence.

VizInterface — backend identity

virtual const std::string &gui_backend() const noexcept override

VizInterface — backend-agnostic sub-window API

virtual std::future<void> create_subwindow_from_description(const mola::gui::WindowDescription &desc, const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

virtual std::future<void> enqueue_custom_gui_code(const std::function<void()> &userCode) override

virtual void *get_subwindow_handle(const std::string &subWindowTitle, const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

virtual std::future<std::optional<std::string>> open_file_dialog(const std::string &title, bool save, const std::vector<std::pair<std::string, std::string>> &filters = {}, const std::string &default_path = "", const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

virtual std::future<void> set_menu_bar(const mola::gui::MenuBar &bar, const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

VizInterface — 3-D scene API

virtual std::future<bool> update_3d_object(const std::string &objName, const std::shared_ptr<mrpt::opengl::CSetOfObjects> &obj, const std::string &viewportName = "main", const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

virtual std::future<bool> insert_point_cloud_with_decay(const std::shared_ptr<mrpt::opengl::CPointCloudColoured> &cloud, double decay_time_seconds, const std::string &viewportName = "main", const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

virtual std::future<bool> clear_all_point_clouds_with_decay(const std::string &viewportName = "main", const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

virtual std::future<bool> update_viewport_look_at(const mrpt::math::TPoint3Df &lookAt, const std::string &viewportName = "main", const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

virtual std::future<bool> update_viewport_camera_azimuth(double azimuth, bool absolute_falseForRelative = true, const std::string &viewportName = "main", const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

virtual std::future<bool> update_viewport_camera_orthographic(bool orthographic, const std::string &viewportName = "main", const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

virtual std::future<bool> execute_custom_code_on_background_scene(const std::function<void(mrpt::opengl::Scene&)> &userCode, const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

VizInterface — observation / RTTI handler API

virtual std::future<bool> subwindow_update_visualization(const mrpt::rtti::CObject::Ptr &obj, const std::string &subWindowTitle, const mrpt::containers::yaml *extra_parameters = nullptr, const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

VizInterface — console output

virtual std::future<bool> output_console_message(const std::string &message, const std::string &parentWindow = DEFAULT_WINDOW_NAME) override

VizInterface — deprecated nanogui-specific stubs

These compile cleanly and resolve futures immediately (no-ops or delegates). nullptr is returned for create_subwindow().

virtual std::future<nanogui::Window*> create_subwindow(const std::string&, const std::string& = DEFAULT_WINDOW_NAME) override

virtual std::future<void> enqueue_custom_nanogui_code(const std::function<void()> &userCode) override

virtual std::future<void> subwindow_grid_layout(const std::string&, bool, int, const std::string& = DEFAULT_WINDOW_NAME) override

virtual std::future<void> subwindow_move_resize(const std::string&, const mrpt::math::TPoint2D_<int>&, const mrpt::math::TPoint2D_<int>&, const std::string& = DEFAULT_WINDOW_NAME) override

Public Functions

MolaVizImGui()

~MolaVizImGui() override

MolaVizImGui(const MolaVizImGui&) = delete

MolaVizImGui &operator=(const MolaVizImGui&) = delete

MolaVizImGui(MolaVizImGui&&) = delete

MolaVizImGui &operator=(MolaVizImGui&&) = delete

virtual void initialize(const Yaml &cfg) override

virtual void spinOnce() override