Fix the triggering in PickPointsInteractor when there are linesets pr… (

#6499)

* Fix the triggering in PickPointsInteractor when there are linesets presents
* Adds handling of LineSet that is similar to Mesh and PointCloud in SetPickableGeometry()

---------

Co-authored-by: Ewing Kang <ewing_kang@glorymakeup.com>
Co-authored-by: Sameer Sheorey <sameer.sheorey@intel.com>

CHANGELOG.md

@@ -27,6 +27,7 @@
 - Add Doppler ICP in tensor registration pipeline (PR #5237)
 - Rename master branch to main.
 - Support in memory loading of XYZ files
+- Fix geometry picker Error when LineSet objects are presented (PR #6499)
 
 ## 0.13
 

cpp/open3d/visualization/gui/PickPointsInteractor.cpp

@@ -11,8 +11,10 @@
 #include <unordered_set>
 
 #include "open3d/geometry/Image.h"
+#include "open3d/geometry/LineSet.h"
 #include "open3d/geometry/PointCloud.h"
 #include "open3d/geometry/TriangleMesh.h"
+#include "open3d/t/geometry/LineSet.h"
 #include "open3d/t/geometry/PointCloud.h"
 #include "open3d/t/geometry/TriangleMesh.h"
 #include "open3d/utility/Logging.h"
@@ -161,15 +163,27 @@ void PickPointsInteractor::SetPickableGeometry(
  auto mesh = dynamic_cast<const geometry::TriangleMesh *>(pg.geometry);
  auto tmesh =
  dynamic_cast<const t::geometry::TriangleMesh *>(pg.tgeometry);
+ auto lineset = dynamic_cast<const geometry::LineSet *>(pg.geometry);
+ auto tlineset =
+ dynamic_cast<const t::geometry::LineSet *>(pg.tgeometry);
  if (cloud) {
  points_.insert(points_.end(), cloud->points_.begin(),
  cloud->points_.end());
  } else if (mesh) {
  points_.insert(points_.end(), mesh->vertices_.begin(),
  mesh->vertices_.end());
- } else if (tcloud || tmesh) {
- const auto &tpoints = (tcloud ? tcloud->GetPointPositions()
- : tmesh->GetVertexPositions());
+ } else if (lineset) {
+ points_.insert(points_.end(), lineset->points_.begin(),
+ lineset->points_.end());
+ } else if (tcloud || tmesh || tlineset) {
+ core::Tensor tpoints;
+ if (tcloud) {
+ tpoints = tcloud->GetPointPositions();
+ } else if (tmesh) {
+ tpoints = tmesh->GetVertexPositions();
+ } else if (tlineset) {
+ tpoints = tlineset->GetPointPositions();
+ }
  const size_t n = tpoints.NumElements();
  float *pts = (float *)tpoints.GetDataPtr();
  points_.reserve(points_.size() + n);
@@ -203,6 +217,7 @@ void PickPointsInteractor::SetPickableGeometry(
  // picking_scene_->AddGeometry(pg.name, tmesh, mat);
  }
  }
+ // TODO what about Lineset selection?
  }
  // add safety but invalid obj
  lookup_->Add("", points_.size());