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Step 3: Ctrl+middle click and Ctrl+G set the rotation center #557

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Merged
JanuszBedkowski merged 1 commit into from
Oct 7, 2026
Merged

Step 3: Ctrl+middle click and Ctrl+G set the rotation center #557

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31 changes: 21 additions & 10 deletions apps/multi_session_registration/multi_session_registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ static const std::vector<ShortcutEntry> appShortcuts = { { "Normal keys", "A", "
{ "", "F", "" },
{ "", "Ctrl+F", "" },
{ "", "G", "" },
{ "", "Ctrl+G", "" },
{ "", "Ctrl+G", "Move center of rotation to gizmo" },
{ "", "H", "" },
{ "", "Ctrl+H", "" },
{ "", "I", "" },
Expand Down Expand Up @@ -135,8 +135,8 @@ static const std::vector<ShortcutEntry> appShortcuts = { { "Normal keys", "A", "
{ "", "Shift + scroll", "" },
{ "", "Shift + drag", "" },
{ "", "Ctrl + left click", "" },
{ "", "Ctrl + right click", "" },
{ "", "Ctrl + middle click", "" } };
{ "", "Ctrl + right click", "change center of rotation" },
{ "", "Ctrl + middle click", "change center of rotation" } };

float m_gizmo[] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 };

Expand Down Expand Up @@ -2179,8 +2179,8 @@ void settings_gui()
}

// set rotation center to gizmo
const auto& session = sessions[index_gizmo];
if (session.point_clouds_container.point_clouds.size() > 0)
if (index_gizmo >= 0 && index_gizmo < sessions.size() &&
sessions[index_gizmo].point_clouds_container.point_clouds.size() > 0)
{
setNewRotationCenter(sessions[index_gizmo].point_clouds_container.point_clouds[0].m_pose.translation());
}
Expand Down Expand Up @@ -2987,6 +2987,20 @@ void display()
if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_M, false))
is_loop_closure_gui = !is_loop_closure_gui;

// Ctrl+G: bring the rotation center to the gizmo (session or edge gizmo, both kept in m_gizmo).
if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_G, false))
{
const bool session_gizmo_visible = std::any_of(
sessions.begin(),
sessions.end(),
[](const Session& s)
{
return s.is_gizmo && !s.is_ground_truth && !s.point_clouds_container.point_clouds.empty();
});
if (session_gizmo_visible || (edge_gizmo && !edges.empty()))
setNewRotationCenter(Eigen::Map<const Eigen::Matrix4f>(m_gizmo).block<3, 1>(0, 3).cast<double>());
}

if (io.KeyCtrl && ImGui::IsKeyPressed(ImGuiKey_O, false))
openProject();

Expand Down Expand Up @@ -3904,12 +3918,9 @@ void mouse(int glut_button, int state, int x, int y)
io.KeyShift,
time_stamp_offset);
}
else
else if (io.KeyCtrl)
{
if (update_rotation_center)
{
setNewRotationCenter(x, y);
}
setNewRotationCenterToClosestTrajectoryPoint(sessions, x, y);
}
}

Expand Down
29 changes: 29 additions & 0 deletions apps/multi_session_registration/raylib_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -542,6 +542,35 @@ void getClosestTrajectoriesPoint(
camera.moveEulerRotationCenterTo(center);
}

void setNewRotationCenterToClosestTrajectoryPoint(const std::vector<Session>& sessions, int x, int y)
{
const auto laser_beam = GetLaserBeam(x, y);
double min_distance = std::numeric_limits<double>::max();
Eigen::Vector3d center;

for (const auto& session : sessions)
{
if (!session.visible)
continue;
for (const auto& pc : session.point_clouds_container.point_clouds)
for (const auto& node : pc.local_trajectory)
{
Eigen::Vector3d vp = pc.m_pose * node.m_pose.translation();
double dist = distance_point_to_line(vp, laser_beam);
if (dist < min_distance)
{
min_distance = dist;
center = vp;
}
}
}

if (min_distance == std::numeric_limits<double>::max())
setNewRotationCenter(x, y);
else
setNewRotationCenter(center);
}

void setNewRotationCenter(int x, int y)
{
RegistrationPlaneFeature::Plane pl;
Expand Down
3 changes: 3 additions & 0 deletions apps/multi_session_registration/raylib_utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,9 @@ void getClosestTrajectoriesPoint(
int& index_loop_closure_target,
bool KeyShift,
double& time_stamp_offset);
//! Ctrl + middle/right click outside loop closure picking (like Step 2): moves the rotation center to the
//! trajectory point of a visible session closest to the mouse ray, or to the z = 0 plane if there is none.
void setNewRotationCenterToClosestTrajectoryPoint(const std::vector<Session>& sessions, int x, int y);
void setNewRotationCenter(int x, int y);
//! Moves the rotation center directly to a known world point (e.g. the gizmo's position),
//! skipping the screen-pick raycast the (x, y) overload does.
Expand Down
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