refactored arrow

modules/viz/src/shapes.cpp

@@ -192,22 +192,13 @@ cv::viz::WArrow::WArrow(const Point3d& pt1, const Point3d& pt2, double thickness
     Vec3d zvec = normalized(xvec.cross(arbitrary));
     Vec3d yvec = zvec.cross(xvec);
 
-    Affine3d pose = makeTransformToGlobal(xvec, yvec, zvec);
+    Matx33d R = makeTransformToGlobal(xvec, yvec, zvec).rotation();
+    Affine3d transform_with_scale(R * length, startPoint);
 
-    // Apply the transforms
-    vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
-    transform->Translate(startPoint.val);
-    transform->Concatenate(vtkmatrix(pose.matrix));
-    transform->Scale(length, length, length);
-
-    // Transform the polydata
-    vtkSmartPointer<vtkTransformPolyDataFilter> transformPD = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
-    transformPD->SetTransform(transform);
-    transformPD->SetInputConnection(arrow_source->GetOutputPort());
-    transformPD->Update();
+    vtkSmartPointer<vtkPolyData> polydata = VtkUtils::TransformPolydata(arrow_source->GetOutputPort(), transform_with_scale);
 
     vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
-    VtkUtils::SetInputData(mapper, transformPD->GetOutput());
+    VtkUtils::SetInputData(mapper, polydata);
 
     vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
     actor->SetMapper(mapper);

modules/viz/test/tests_simple.cpp

@@ -277,6 +277,8 @@ TEST(Viz, DISABLED_show_image_3d)
     viz.showWidget("arr1", WArrow(Vec3d(-0.5, -0.5, 0.0), Vec3d(0.2, 0.2, 0.0), 0.009, Color::raspberry()));
     viz.showWidget("img1", WImage3D(gray, Size2d(1.0, 1.0), Vec3d(-0.5, -0.5, 0.0), Vec3d(1.0, 1.0, 0.0), Vec3d(0.0, 1.0, 0.0)));
 
+    viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
+
     int i = 0;
     while(!viz.wasStopped())
     {
@@ -286,6 +288,15 @@ TEST(Viz, DISABLED_show_image_3d)
     //viz.spin();
 }
 
+TEST(Viz, show_simple_widgets)
+{
+    Viz3d viz("show_simple_widgets");
+    viz.showWidget("coos", WCoordinateSystem());
+    viz.showWidget("cube", WCube());
+    viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
+    viz.spin();
+}
+
 TEST(Viz, DISABLED_spin_twice_____________________________TODO_UI_BUG)
 {
     Mesh mesh = Mesh::load(get_dragon_ply_file_path());