Fixes and improvements for point selection in O3DVisualizer (fixes #6725)

cpp/open3d/visualization/gui/PickPointsInteractor.cpp

@@ -155,8 +155,6 @@ void PickPointsInteractor::SetPickableGeometry(
  // TriangleMesh so that occluded points are not selected.
  points_.clear();
  for (auto &pg : geometry) {
- lookup_->Add(pg.name, points_.size());
-
  auto cloud = dynamic_cast<const geometry::PointCloud *>(pg.geometry);
  auto tcloud =
  dynamic_cast<const t::geometry::PointCloud *>(pg.tgeometry);
@@ -166,6 +164,12 @@ void PickPointsInteractor::SetPickableGeometry(
  auto lineset = dynamic_cast<const geometry::LineSet *>(pg.geometry);
  auto tlineset =
  dynamic_cast<const t::geometry::LineSet *>(pg.tgeometry);
+
+ // only add geometry with pickable points
+ if (cloud || tcloud || mesh || tmesh || lineset || tlineset) {
+ lookup_->Add(pg.name, points_.size());
+ }
+
  if (cloud) {
  points_.insert(points_.end(), cloud->points_.begin(),
  cloud->points_.end());
@@ -268,35 +272,38 @@ void PickPointsInteractor::SetOnStartedPolygonPicking(
 }
 
 void PickPointsInteractor::Mouse(const MouseEvent &e) {
- if (e.type == MouseEvent::BUTTON_UP) {
- if (e.modifiers & int(KeyModifier::ALT)) {
- if (pending_.empty() || pending_.back().keymods == 0) {
- pending_.push({{gui::Point(e.x, e.y)}, int(KeyModifier::ALT)});
- if (on_ui_changed_) {
- on_ui_changed_({});
- }
- } else {
- pending_.back().polygon.push_back(gui::Point(e.x, e.y));
- if (on_started_poly_pick_) {
- on_started_poly_pick_();
- }
- if (on_ui_changed_) {
- std::vector<Eigen::Vector2i> lines;
- auto &polygon = pending_.back().polygon;
- for (size_t i = 1; i < polygon.size(); ++i) {
- auto &p0 = polygon[i - 1];
- auto &p1 = polygon[i];
- lines.push_back({p0.x, p0.y});
- lines.push_back({p1.x, p1.y});
- }
- lines.push_back({polygon.back().x, polygon.back().y});
- lines.push_back({polygon[0].x, polygon[0].y});
- on_ui_changed_(lines);
- }
+ if (e.type != MouseEvent::BUTTON_UP) return;
+
+ bool polygon_picking_requested = e.modifiers & int(KeyModifier::ALT);
+ if (!polygon_picking_requested) {
+ // standard point picking
+ pending_.push({{gui::Point(e.x, e.y)}, e.modifiers});
+ DoPick();
+ } else {
+ // special polygon picking mode
+ if (pending_.empty() || pending_.back().keymods == 0) {
+ pending_.push({{gui::Point(e.x, e.y)}, e.modifiers});
+ if (on_ui_changed_) {
+ on_ui_changed_({});
  }
  } else {
- pending_.push({{gui::Point(e.x, e.y)}, 0});
- DoPick();
+ pending_.back().polygon.push_back(gui::Point(e.x, e.y));
+ if (on_started_poly_pick_) {
+ on_started_poly_pick_();
+ }
+ if (on_ui_changed_) {
+ std::vector<Eigen::Vector2i> lines;
+ auto &polygon = pending_.back().polygon;
+ for (size_t i = 1; i < polygon.size(); ++i) {
+ auto &p0 = polygon[i - 1];
+ auto &p1 = polygon[i];
+ lines.push_back({p0.x, p0.y});
+ lines.push_back({p1.x, p1.y});
+ }
+ lines.push_back({polygon.back().x, polygon.back().y});
+ lines.push_back({polygon[0].x, polygon[0].y});
+ on_ui_changed_(lines);
+ }
  }
  }
 }

cpp/open3d/visualization/visualizer/O3DVisualizer.cpp

@@ -384,7 +384,9 @@ struct O3DVisualizer::Impl {
  std::vector<std::pair<size_t, Eigen::Vector3d>>>
  &indices,
  int keymods) {
- if ((keymods & int(KeyModifier::SHIFT)) ||
+ bool unselect_mode_requested =
+ keymods & int(KeyModifier::SHIFT);
+ if (unselect_mode_requested ||
  polygon_selection_unselects_) {
  selections_->UnselectIndices(indices);
  } else {
@@ -488,11 +490,14 @@ struct O3DVisualizer::Impl {
  });
 
 #if __APPLE__
- const char *selection_help =
- "Cmd-click to select a point\nCmd-ctrl-click to polygon select";
+ const char *selection_help = const char *selection_help =
+ R"(Cmd-click to select a point
+Cmd-shift-click to deselect a point
+Cmd-alt-click to polygon select)";
 #else
- const char *selection_help =
- "Ctrl-click to select a point\nCmd-alt-click to polygon select";
+ const char *selection_help = R"(Ctrl-click to select a point
+Ctrl-shift-click to deselect a point
+Ctrl-alt-click to polygon select)";
 #endif // __APPLE__
  h = new Horiz();
  h->AddStretch();
@@ -1545,12 +1550,10 @@ struct O3DVisualizer::Impl {
  OverrideMaterial(o.name, o.material, ui_state_.scene_shader);
  }
 
- auto bbox = scene_->GetScene()->GetBoundingBox();
- auto xdim = bbox.max_bound_.x() - bbox.min_bound_.x();
- auto ydim = bbox.max_bound_.y() - bbox.min_bound_.z();
- auto zdim = bbox.max_bound_.z() - bbox.min_bound_.y();
+ auto bbox_extend = scene_->GetScene()->GetBoundingBox().GetExtent();
  auto psize = double(std::max(5, px)) * 0.000666 *
- std::max(xdim, std::max(ydim, zdim));
+ std::max(bbox_extend.x(),
+ std::max(bbox_extend.y(), bbox_extend.z()));
  selections_->SetPointSize(psize);
 
  scene_->SetPickablePointSize(px);