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Fixes and improvements for point selection in O3DVisualizer (fixes #6725) #6733

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merged 4 commits into from
Apr 17, 2024
Merged

Fixes and improvements for point selection in O3DVisualizer (fixes #6725) #6733

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d905a36
Fix #6725: O3DVisualizer: make points removable and fix point size calc
danrauch Mar 29, 2024
0c9f41d
Apply style
danrauch Mar 29, 2024
3137df6
Fix crash occuring when trying to make selection and non-pickable geo…
danrauch Mar 29, 2024
c4d26f0
Fix copy&paste error in help text for MACOS
danrauch Apr 17, 2024
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65 changes: 36 additions & 29 deletions cpp/open3d/visualization/gui/PickPointsInteractor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand All @@ -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());
Expand Down Expand Up @@ -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);
}
}
}
}
Expand Down
22 changes: 12 additions & 10 deletions cpp/open3d/visualization/visualizer/O3DVisualizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 {
Expand Down Expand Up @@ -488,11 +490,13 @@ 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 = 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();
Expand Down Expand Up @@ -1545,12 +1549,10 @@ 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);
Expand Down