From 837a76f6ffd2f3b223b585c47e3fe6f3625c0380 Mon Sep 17 00:00:00 2001
From: Ewing Kang <ewing_kang@glorymakeup.com>
Date: Mon, 20 Nov 2023 18:02:45 +0800
Subject: [PATCH 1/3] Fix the triggering in PickPointsInteractor when there are
 linesets presents

Adds handling of LineSet that is similar to Mesh and PointCloud in SetPickableGeometry()
---
 .../gui/PickPointsInteractor.cpp              | 22 ++++++++++++++++---
 1 file changed, 19 insertions(+), 3 deletions(-)

diff --git a/cpp/open3d/visualization/gui/PickPointsInteractor.cpp b/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
index 8910c64f264..7637894e04f 100644
--- a/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
+++ b/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
@@ -13,8 +13,10 @@
 #include "open3d/geometry/Image.h"
 #include "open3d/geometry/PointCloud.h"
 #include "open3d/geometry/TriangleMesh.h"
+#include "open3d/geometry/LineSet.h"
 #include "open3d/t/geometry/PointCloud.h"
 #include "open3d/t/geometry/TriangleMesh.h"
+#include "open3d/t/geometry/LineSet.h"
 #include "open3d/utility/Logging.h"
 #include "open3d/visualization/gui/Events.h"
 #include "open3d/visualization/rendering/MaterialRecord.h"
@@ -161,15 +163,28 @@ 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(), cloud->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 +218,7 @@ void PickPointsInteractor::SetPickableGeometry(
                 // picking_scene_->AddGeometry(pg.name, tmesh, mat);
             }
         }
+        //TODO what about Lineset selection?
     }
     // add safety but invalid obj
     lookup_->Add("", points_.size());

From 4d00414d09e30c93647ac604013b9befe680054d Mon Sep 17 00:00:00 2001
From: Ewing Kang <ewing_kang@glorymakeup.com>
Date: Tue, 21 Nov 2023 08:47:51 +0800
Subject: [PATCH 2/3] Add description to the CHANGELOG.md

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d91ac41c3c2..d4f0b86fce5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -23,6 +23,7 @@
 * Check for support of CUDA Memory Pools at runtime (#4679)
 * Fix `toString`, `CreateFromPoints` methods and improve docs in `AxisAlignedBoundingBox`. 🐛📝
 * Migrate Open3d documentation to furo theme ✨ (#6470)
+* Fix geometry picker Error when LineSet objects are presented
 
 ## 0.13
 

From 9b3623a09a429dde6aeae6318214ec2e91ebe3f6 Mon Sep 17 00:00:00 2001
From: "Kang, Hsin-Yi" <f039281310@yahoo.com.tw>
Date: Thu, 23 Nov 2023 19:10:12 +0800
Subject: [PATCH 3/3] Fix erroneous lineset iterators from previous bugfix

---
 cpp/open3d/visualization/gui/PickPointsInteractor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cpp/open3d/visualization/gui/PickPointsInteractor.cpp b/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
index 7637894e04f..6ac47dc3a36 100644
--- a/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
+++ b/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
@@ -173,7 +173,7 @@ void PickPointsInteractor::SetPickableGeometry(
             points_.insert(points_.end(), mesh->vertices_.begin(),
                            mesh->vertices_.end());
         } else if (lineset) {
-            points_.insert(points_.end(), cloud->points_.begin(),
+            points_.insert(points_.end(), lineset->points_.begin(),
                            lineset->points_.end());
         }
         else if (tcloud || tmesh || tlineset) {