3.2.0 (2026-08-21)

  • 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

  • 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.

  • Contributors: Jose Luis Blanco-Claraco

  • feat: ComboBox GUI widget gained an optional fixed_width parameter (both backends).

  • Contributors: Jose Luis Blanco-Claraco

3.0.0 (2026-07-17)

  • Merge branch ‘feat/imviz-metric-plots’ into develop

  • Remove deprecated nanogui-specific VizInterface API create_subwindow(), enqueue_custom_nanogui_code(), subwindow_grid_layout() and subwindow_move_resize() have no remaining callers now that create_subwindow_from_description() and enqueue_custom_gui_code() cover their use cases on both backends.

  • Merge pull request #172 from MOLAorg/feat/imviz-metric-plots feat(mola_viz_imgui): add metric time-series plot windows

  • feat(mola_viz_imgui): add metric time-series plot windows Adds a backend-agnostic register_metric()/push_metric() API to VizInterface (guarded by MOLA_KERNEL_VIZ_HAS_METRICS) so any MOLA module can stream timestamped scalar values to live, autoscrolling plot windows opened from a new “Plots” menu in the mola_viz_imgui (ImGui/ImPlot) backend. The nanogui MolaViz backend implements the API as a no-op, mirroring the set_menu_bar precedent. The Plots menu also gives the Console window its first working close/reopen toggle. Vendors ImPlot as a submodule under mola_viz_imgui/3rdparty/implot.

  • Merge pull request #165 from MOLAorg/imgui-window-icon feat: mola viz imgui set window icon

  • feat: mola viz imgui set window icon

  • Merge pull request #162 from MOLAorg/feat/viz-decay-lookat-frame-aware feat: frame-aware parentFrame for decay clouds and camera look-at

  • fix: decay eviction uses per-entry container; look-at fails on missing frame Four reviewer findings, all confirmed valid: 1. VizInterface.h comment: add update_viewport_look_at() to the list of APIs covered by MOLA_KERNEL_VIZ_HAS_MOVABLE_FRAMES (it was omitted). 2/3. Decay cloud eviction (both backends): the eviction path inside insert_point_cloud_with_decay() was removing the oldest cloud from the current insertion’s container rather than the container that cloud was originally placed in. If parentFrame ever changes between calls the wrong container would be used, leaking the cloud in the scene. Fix: add a container member to DecayingCloud and store the owning container at insert time; use it at eviction time. 4/5. Look-at frame not found (both backends): when parentFrame is non-empty but the frame node does not yet exist in the scene, the code was silently falling back to treating the raw local-frame coordinates as world-space and moving the camera to the wrong position. Fix: return false so the camera is not moved until the frame node is present.

  • feat: extend VizInterface for frame-aware decay clouds and camera look-at insert_point_cloud_with_decay() and update_viewport_look_at() now both accept an optional parentFrame argument (same semantics as the existing parentFrame on update_3d_object()): when non-empty, the backend looks up the named movable frame node and composes its current scene pose with the supplied point before inserting the cloud / moving the camera. This lets callers (e.g. mola_lidar_odometry) pass a local-odom-frame point while the camera and transient clouds still end up at the correct world-space position when a central mapper (mola_mapper_3d) is continuously repositioning the frame node. Both backends (MolaViz / MolaVizImGuiCore) and the MolaVizImGui forwarder are updated. The MOLA_KERNEL_VIZ_HAS_MOVABLE_FRAMES feature macro already covers both new parameters; no additional macro is added.

  • Merge pull request #160 from MOLAorg/feat/viz-with-movable-frames feat: viz with movable frames

  • feat: viz with movable frames

  • Merge pull request #151 from MOLAorg/fix/imgui-slider fix: imgui slider

  • fix: imgui slider

  • Merge pull request #146 from MOLAorg/fix-upgrade-points-classes fix: upgrade not to use deprecated mrpt2 point cloud classes

  • fix: upgrade not to use deprecated mrpt2 point cloud classes

  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

2.9.0 (2026-05-11)

  • Merge pull request #112 from MOLAorg/feat/dear-imgui-viz Introduce Dear ImGui alternative viz module

  • chore: misc improvements

  • Introduce Dear ImGui alternative viz module

  • Merge pull request #143 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22

  • bump min req cmake version to 3.22

  • Contributors: Jose Luis Blanco-Claraco

2.8.0 (2026-04-29)

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

  • Merge pull request #116 from MOLAorg/update-rds-gui Update RDS gui creation to new backend agnostic API

  • Add missing nanogui layout

  • Contributors: Jose Luis Blanco-Claraco

2.6.0 (2026-03-12)

  • Merge pull request #113 from MOLAorg/feat/kf-map-view-vectors Feat:kf map view vectors filter for NN search

  • comments formatting

  • Merge pull request #109 from MOLAorg/feat/support-imgui Feature: GUI backend agnostic API in mola_kernel (Step towards supporting imgui)

  • safer multithread

  • Several visual and safety fixes in the new GUI interface

  • Use safer livestring registry

  • minor fixes

  • Add support for menu bars

  • MolaViz implements the new backend agnostic API

  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds

  • Refactor decay-clouds so they are invariant to wallclock incoming speed

  • Update coyright notes

  • fix clang-tidy warnings

  • Contributors: Jose Luis Blanco Claraco, Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

  • Fix: mola_viz lidar preview didn’t filter Inf ranges in stats

  • Merge pull request #99 from MOLAorg/feat/ros2-bridge-pub-geographic ROS2 bridge: publish geographic poses too

  • ros2 bridge: use geographic_msgs, store the last georeference info internally, and publish georef poses merge of these commits: - Enable many more clang-tidy checks - lint clean - implement publishing georeferenced poses - mola-viz: fix potential crash on edge case with all points having NaN value - FIX: potential crash if no MapServer is present and map services are called

  • Contributors: Jose Luis Blanco-Claraco

2.4.0 (2025-12-28)

  • Fix build against upcoming mrpt 2.15.4

  • Prepare for deprecated mrpt::maps classes towards mrpt 3.0.0

  • viz pointclouds preview: fix missing uint8_t fields

  • Contributors: Jose Luis Blanco-Claraco

2.3.0 (2025-12-15)

  • Fix: missing uint fields stats in PCD preview GUI in mola_viz

  • mola-viz: fix NaNs in range of each point channel preview window

  • Viz: Fix handling multi-line messages in the UI terminal

  • Contributors: Jose Luis Blanco-Claraco

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

  • format

  • Upgrade to use the upcoming MRPT 2.15 API for CGenericsPointsMap

  • Contributors: Jose Luis Blanco-Claraco

2.1.0 (2025-10-20)

  • FIX: Show correct sensor rate in Hz when visualizing with a decimation

  • Fix clang-tidy warnings

  • Contributors: Jose Luis Blanco-Claraco

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO

  • Fix warnings

  • fix build against old mrpt versions

  • Implement removal of decayed clouds

  • MolaViz: Add method clear_all_point_clouds_with_decay()

  • MolaViz: Add support for inserting clouds with decay_time

  • fix clang-format

  • Allow extra parameters in mola_viz per-sensor preview windows

  • MolaViz: show min/max intensity in input sensor point clouds

  • Remove old code that was needed to support very old MRPT versions

  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

1.8.0 (2025-05-25)

  • Implement new virtual Viz methods

  • Update copyright year

  • Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

  • Metric maps can now be rendered as semitransparent pointclouds

  • Contributors: Jose Luis Blanco-Claraco

1.6.4 (2025-04-23)

  • modernize clang-format

  • Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

1.6.1 (2025-02-13)

1.6.0 (2025-01-21)

1.5.1 (2024-12-29)

1.5.0 (2024-12-26)

  • Drop dependency on mrpt-gui in kernel by abstracting MolaViz subwindow layout operations

  • MolaViz: show package name in GUI windows

  • Contributors: Jose Luis Blanco-Claraco

1.4.1 (2024-12-20)

1.4.0 (2024-12-18)

1.3.0 (2024-12-11)

  • mola_viz: Show IMU data in the GUI too

  • Contributors: Jose Luis Blanco-Claraco

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

  • mola_viz: do not add a XY ground grid by default to all GUIs

  • Contributors: Jose Luis Blanco-Claraco

1.1.3 (2024-08-28)

  • Depend on new mrpt_lib packages (deprecate mrpt2)

  • Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

  • Update clang-format style; add reformat bash script

  • Merge pull request #62 from MOLAorg/docs-fixes Docs fixes

  • Fix ament_xmllint warnings in package.xml

  • Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

  • ament_lint_cmake: clean warnings

  • Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

  • Viz interface: add API for rotate camera

  • Contributors: Jose Luis Blanco-Claraco

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

  • viz: fix mismatched free/delete inside nanogui layout

  • Contributors: Jose Luis Blanco-Claraco

1.0.4 (2024-05-14)

  • bump cmake_minimum_required to 3.5

  • MolaViz: BUGFIX: shared_ptr were captured by lambdas, delaying proper dtors. Replaced by weak_ptr’s

  • Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

  • Fix package.xml website URL

  • Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

  • ROS2 launch demos

  • use new mrpt GPS covariance field

  • visualize sensor pose

  • mola_kernel: new UI interface for datasets

  • mola-viz: show image channel of RGBD observations

  • Fix sensorPose on lidar preview

  • Viz: show GPS data

  • mola_viz: add custom icon

  • viz: more options to visualize RGBD camera observations

  • viz API: add enqueue_custom_nanogui_code()

  • viz console: add fading effect

  • mola_viz: show console messages

  • Correct usage of mola:: namespace in cmake targets

  • copyright update

  • mola_viz: support visualizing velodyne observations

  • Add look_at() viz interface

  • Fewer mutex locking()

  • reorganize as monorepo

  • Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)

  • Initial public release.

  • Contributors: Jose Luis Blanco-Claraco