Introduce Dear ImGui alternative viz module

.github/workflows/build-ros.yml

@@ -48,15 +48,15 @@ jobs:
             use_ros_testing: true
 
           # Rolling Ridley (No End-Of-Life)
-          - name: rolling stable
-            docker_image: ubuntu:noble
-            ros_distribution: rolling
-            use_ros_testing: false
-
-          - name: rolling testing
-            docker_image: ubuntu:noble
-            ros_distribution: rolling
-            use_ros_testing: true
+          #- name: rolling stable
+          #  docker_image: ubuntu:resolute
+          #  ros_distribution: rolling
+          #  use_ros_testing: false
+
+          #- name: rolling testing
+          #  docker_image: ubuntu:resolute
+          #  ros_distribution: rolling
+          #  use_ros_testing: true
 
     container:
       image: ${{ matrix.docker_image }}

.gitmodules

@@ -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

mola_demos/mola-cli-launchs/euroc_stereo_just_replay.yaml

@@ -30,6 +30,6 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none

mola_demos/mola-cli-launchs/image_directory_just_replay.yaml

@@ -61,6 +61,6 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none

mola_demos/mola-cli-launchs/kitti360_just_replay.yaml

@@ -37,6 +37,6 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}ImGui
     #verbosity_level: DEBUG
     params: ~ # none

mola_demos/mola-cli-launchs/kitti_just_replay.yaml

@@ -37,6 +37,12 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
-    #verbosity_level: DEBUG
-    params: ~ # none
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
+    verbosity_level: DEBUG
+    params:
+      # Persist ImGui window layout and docking state to
+      # $XDG_CONFIG_HOME/mola/imgui_<imgui_app_name>.ini (or
+      # $HOME/.config/mola/imgui_<imgui_app_name>.ini) across runs.
+      # Use a distinct name per launch config so different apps don't
+      # overwrite each other's layouts.  Set to "" to disable persistence.
+      imgui_app_name: kitti_replay

mola_demos/mola-cli-launchs/kitti_just_replay_to_ros2.yaml

@@ -41,21 +41,20 @@ modules:
     #verbosity_level: INFO
     params:
       # Whenever a MOLA odometry/SLAM system publishes a new pose estimate
-      # it will be forwarded to /tf as a transformation between: 
+      # it will be forwarded to /tf as a transformation between:
       # `reference_frame` -> `base_link_frame`
       base_link_frame: base_link
       reference_frame: map
 
       # If true, an nav_msgs/Odometry message will be also published
-      # 
+      #
       publish_odometry_msgs_from_slam: true
 
-
   # ========================
   # MolaViz
   # (Remove if not needed)
   # ========================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none

mola_demos/mola-cli-launchs/lidar_bin_directory_just_replay.yaml

@@ -27,6 +27,6 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none

mola_demos/mola-cli-launchs/mulran_just_replay.yaml

@@ -40,6 +40,6 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none

mola_demos/mola-cli-launchs/mulran_just_replay_to_ros2.yaml

@@ -60,6 +60,6 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none

mola_demos/mola-cli-launchs/paris_luco_just_replay.yaml

@@ -19,14 +19,14 @@ modules:
         win_pos: 5 70 400 400
     params:
       base_dir: ${PARIS_LUCO_BASE_DIR}
-      sequence: '00'  # There is only one sequence in this dataset
+      sequence: "00" # There is only one sequence in this dataset
       time_warp_scale: 1.0
       start_paused: ${MOLA_DATASET_START_PAUSED|false}
 
   # =====================
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none

mola_demos/mola-cli-launchs/rawlog_just_replay.yaml

@@ -5,7 +5,7 @@
 # -----------------------------------------------------------------------------
 
 modules:
-# Offline or online sensory data sources =====================
+  # Offline or online sensory data sources =====================
   # =====================
   # RawlogDataset
   # =====================
@@ -27,6 +27,6 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none

mola_demos/mola-cli-launchs/ros2_ouster_just_view.yaml

@@ -9,11 +9,11 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none
 
-# Offline or online sensory data sources =====================
+  # Offline or online sensory data sources =====================
   - type: mola::BridgeROS2
     name: dataset_input
     # In BridgeROS2, this execution rate (Hz) determines the
@@ -38,7 +38,7 @@ modules:
           msg_type: PointCloud2
           output_sensor_label: ${MOLA_LIDAR_NAME|lidar}
           # If present, this will override whatever /tf tells about the sensor pose:
-          fixed_sensor_pose: "0 0 0 0 0 0"  # 'x y z yaw_deg pitch_deg roll_deg''
+          fixed_sensor_pose: "0 0 0 0 0 0" # 'x y z yaw_deg pitch_deg roll_deg''
           use_fixed_sensor_pose: ${MOLA_USE_FIXED_LIDAR_POSE|false}
 
         - topic: /odom

mola_demos/mola-cli-launchs/rosbag2_pointcloud_just_view.yaml

@@ -20,11 +20,11 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none
 
-# Offline or online sensory data sources =====================
+  # Offline or online sensory data sources =====================
   - type: mola::Rosbag2Dataset
     name: rosbag2_input
     # In Rosbag2Dataset, this execution rate (Hz) determines the
@@ -34,29 +34,29 @@ modules:
     # in bursts.
     execution_rate: 50 # Hz
     #verbosity_level: DEBUG
-    
+
     # Optional visualization of raw sensor streams in the MolaViz GUI
     gui_preview_sensors:
       - raw_sensor_label: ${MOLA_LIDAR_TOPIC|'/ouster/points'}
         decimation: 1
         win_pos: 5 5 400 400
-        
+
       #- raw_sensor_label: '/ouster/range_image'
       #  decimation: 1
       #  win_pos: 5 420 400 400
 
     params:
       # We use an environment variable to force the user to specify a bag file:
       rosbag_filename: ${ROSBAG2_FILE}
-      
-      base_link_frame_id: 'base_footprint'
-      
+
+      base_link_frame_id: "base_footprint"
+
       time_warp_scale: 1.0
       start_paused: ${MOLA_DATASET_START_PAUSED|false}
-      
+
       #rosbag_storage_id: '' # Empty=auto guess. (mcap|sqlite3}
       #rosbag_serialization: 'cdr'
-      
+
       # 'sensors' contains maps from output "sensorLabel"s, to the
       # configuration of that data source (mainly, 'type', 'topic'):
       # If no 'sensors' entry is given, all ROSBAG topics will be exposed
@@ -67,7 +67,7 @@ modules:
         - topic: ${MOLA_LIDAR_TOPIC|'/ouster/points'}
           type: CObservationPointCloud
           # If present, this will override whatever /tf tells about the sensor pose:
-          fixed_sensor_pose: "0 0 0 0 0 0"  # 'x y z yaw_deg pitch_deg roll_deg'
+          fixed_sensor_pose: "0 0 0 0 0 0" # 'x y z yaw_deg pitch_deg roll_deg'
           use_fixed_sensor_pose: ${MOLA_USE_FIXED_LIDAR_POSE|false}
 
         #- topic: /ouster/range_image

mola_demos/mola-cli-launchs/video_camera_source_just_replay.yaml

@@ -62,6 +62,6 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none

mola_demos/mola-cli-launchs/video_file_source_just_replay.yaml

@@ -60,6 +60,6 @@ modules:
   # MolaViz
   # =====================
   - name: viz
-    type: mola::MolaViz
+    type: ${MOLA_GUI_MODULE|mola::MolaVizImGui}
     #verbosity_level: DEBUG
     params: ~ # none

mola_viz/README.md

@@ -1,7 +1,7 @@
 # mola_viz
-GUI for MOLA
+GUI for MOLA based on nanogui (for the Dear ImGui alternative see `mola_viz_imgui`)
 
-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

mola_viz/src/MolaViz.cpp

@@ -1046,7 +1046,7 @@ void MolaViz::spinOnce()
 }
 
 // ---------------------------------------------------------------------------
-// Dataset UI - ported to create_subwindow_from_description
+// Dataset UI
 // ---------------------------------------------------------------------------
 
 void MolaViz::dataset_ui_check_new_modules()

mola_viz_imgui/3rdparty/.clang-format

@@ -0,0 +1,2 @@
+DisableFormat: true
+SortIncludes: Never

mola_viz_imgui/3rdparty/imgui_static/CMakeLists.txt

@@ -0,0 +1,70 @@
+# ------------------------------------------------------------------------------
+# 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.
+# No explicit loader macro: imgui_impl_opengl3 will use its bundled
+# imgui_impl_opengl3_loader.h (available since ImGui ~1.87), so we do not need
+# to find or link GLEW/GLAD/gl3w separately.
+target_compile_definitions(imgui_static
+  PUBLIC
+    IMGUI_ENABLE_DOCKING       # activates docking API
+)
+
+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)