O3DVisualizerSelections.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "visualization/visualizer/O3DVisualizerSelections.h"
 
#include <assert.h>
 
#include "ecvMesh.h"
#include "ecvPointCloud.h"
#include "visualization/gui/SceneWidget.h"
#include "visualization/rendering/CloudViewerScene.h"
#include "visualization/rendering/MaterialRecord.h"
#include "visualization/rendering/Scene.h"
 
namespace cloudViewer {
namespace visualization {
namespace visualizer {
 
namespace {
rendering::MaterialRecord MakeMaterial() {
    rendering::MaterialRecord m;
    m.shader = "defaultUnlit";
    m.base_color = {1.0f, 0.0f, 1.0f, 1.0f};
    return m;
}
}  // namespace
 
// ----------------------------------------------------------------------------
O3DVisualizerSelections::O3DVisualizerSelections(gui::SceneWidget &widget3d)
    : widget3d_(widget3d) {}
 
O3DVisualizerSelections::~O3DVisualizerSelections() {}
 
void O3DVisualizerSelections::NewSet() {
    auto name = std::string("__selection_") + std::to_string(next_id_++);
    sets_.push_back({name, {}});
    if (current_set_index_ < 0) {
        current_set_index_ = int(sets_.size()) - 1;
    }
}
 
void O3DVisualizerSelections::RemoveSet(int index) {
    auto scene = widget3d_.GetScene();
    if (scene->HasGeometry(sets_[index].name)) {
        scene->RemoveGeometry(sets_[index].name);
    }
    sets_.erase(sets_.begin() + index);
    current_set_index_ = std::min(int(sets_.size()) - 1, current_set_index_);
 
    if (!sets_.empty() && scene->HasGeometry(sets_[current_set_index_].name)) {
        scene->ShowGeometry(sets_[current_set_index_].name, true);
    }
}
 
void O3DVisualizerSelections::SelectSet(int index) {
    auto scene = widget3d_.GetScene();
    if (scene->HasGeometry(sets_[current_set_index_].name)) {
        scene->ShowGeometry(sets_[current_set_index_].name, false);
    }
 
    current_set_index_ = index;
 
    if (!sets_.empty() && scene->HasGeometry(sets_[current_set_index_].name)) {
        scene->ShowGeometry(sets_[current_set_index_].name, true);
    }
}
 
size_t O3DVisualizerSelections::GetNumberOfSets() const { return sets_.size(); }
 
void O3DVisualizerSelections::SelectIndices(
        const std::map<std::string,
                       std::vector<std::pair<size_t, Eigen::Vector3d>>>
                &indices) {
    if (!sets_.empty()) {
        auto &selection = sets_[current_set_index_];
        for (auto &name_indices : indices) {
            auto &name = name_indices.first;
            for (auto idx_pt : name_indices.second) {
                auto &idx = idx_pt.first;
                auto &p = idx_pt.second;
                selection.indices[name].insert({idx, pick_order_, p});
            }
        }
        pick_order_ += 1;
 
        UpdateSelectionGeometry();
    }
}
 
void O3DVisualizerSelections::UnselectIndices(
        const std::map<std::string,
                       std::vector<std::pair<size_t, Eigen::Vector3d>>>
                &indices) {
    if (!sets_.empty()) {
        auto &selection = sets_[current_set_index_];
        for (auto &name_indices : indices) {
            auto &name = name_indices.first;
            for (auto idx_pt : name_indices.second) {
                auto &idx = idx_pt.first;
                auto &p = idx_pt.second;
                selection.indices[name].erase({idx, pick_order_, p});
            }
        }
        pick_order_ += 1;
 
        UpdateSelectionGeometry();
    }
}
 
void O3DVisualizerSelections::UpdateSelectionGeometry() {
    auto scene = widget3d_.GetScene();
    auto &selection = sets_[current_set_index_];
    if (scene->HasGeometry(selection.name)) {
        scene->RemoveGeometry(selection.name);
    }
    std::vector<Eigen::Vector3d> points;
    points.reserve(selection.indices.size());
    for (auto &kv : selection.indices) {
        for (auto &i : kv.second) {
            points.push_back(i.point);
        }
    }
 
    if (!points.empty()) {
        ccMesh spheres;
        spheres.CreateInternalCloud();
        for (auto &p : points) {
            auto ps = ccMesh::CreateSphere(point_size_, 10);
            ps->Translate(p);
            spheres += *ps;
        }
        scene->AddGeometry(selection.name, &spheres, MakeMaterial());
        scene->GetScene()->GeometryShadows(selection.name, false, false);
    }
 
    widget3d_.ForceRedraw();
}
 
std::vector<O3DVisualizerSelections::SelectionSet>
O3DVisualizerSelections::GetSets() {
    std::vector<SelectionSet> all;
    all.reserve(sets_.size());
    for (auto &s : sets_) {
        all.push_back(s.indices);
    }
    return all;
}
 
void O3DVisualizerSelections::SetPointSize(double radius_world) {
    point_size_ = radius_world;
    if (IsActive()) {
        UpdatePointSize();
    } else {
        point_size_changed_ = true;
    }
}
 
void O3DVisualizerSelections::MakeActive() {
    if (is_active_) {
        utility::LogError("Already active.");
    }
 
    is_active_ = true;
    widget3d_.SetViewControls(gui::SceneWidget::Controls::PICK_POINTS);
    auto scene = widget3d_.GetScene();
 
    if (point_size_changed_) {
        UpdatePointSize();
        point_size_changed_ = false;
    }
 
    auto &selection = sets_[current_set_index_];
    if (scene->HasGeometry(selection.name)) {
        scene->ShowGeometry(selection.name, true);
    }
}
 
bool O3DVisualizerSelections::IsActive() const { return is_active_; }
 
void O3DVisualizerSelections::MakeInactive() {
    auto scene = widget3d_.GetScene();
 
    auto &selection = sets_[current_set_index_];
    if (scene->HasGeometry(selection.name)) {
        scene->ShowGeometry(selection.name, false);
    }
 
    is_active_ = false;
}
 
void O3DVisualizerSelections::SetSelectableGeometry(
        const std::vector<gui::SceneWidget::PickableGeometry> &geometry) {
    widget3d_.SetPickableGeometry(geometry);
}
 
void O3DVisualizerSelections::UpdatePointSize() { UpdateSelectionGeometry(); }
 
}  // namespace visualizer
}  // namespace visualization
}  // namespace cloudViewer