axes.h

#pragma once
 
// C++
#include <iostream>
#include <string>
 
// PCL
#include "object.h"
 
// VTK
#include <vtkVersion.h>
#include <vtkActor.h>
#include <vtkTubeFilter.h>
#include <vtkAxes.h>
//#include <vtkDataSetMapper.h>
#include <vtkFloatArray.h>
#include <vtkProperty.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
#include <vtkSmartPointer.h>
 
class Axes : public Object
{
public:
 
  // Operators
  // -----------------------------------------------------------------------------
  Axes (std::string name, float size = 1.0) :
      Object (name), axes_ (vtkSmartPointer<vtkAxes>::New ())
  {
    axes_->SetOrigin (0, 0, 0);
    axes_->SetScaleFactor (size);
    axes_->Update ();
 
    vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
#if (VTK_MAJOR_VERSION > 9) || (VTK_MAJOR_VERSION == 9 && VTK_MINOR_VERSION >= 7)
    axes_colors->ReserveValues (6);
#else
    axes_colors->Allocate (6);
#endif
    axes_colors->InsertNextValue (0.0);
    axes_colors->InsertNextValue (0.0);
    axes_colors->InsertNextValue (0.5);
    axes_colors->InsertNextValue (0.5);
    axes_colors->InsertNextValue (1.0);
    axes_colors->InsertNextValue (1.0);
 
    vtkSmartPointer<vtkPolyData> axes_data = axes_->GetOutput ();
    axes_data->GetPointData ()->SetScalars (axes_colors);
 
    vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
    axes_tubes->SetInputData (axes_data);
    axes_tubes->SetRadius (axes_->GetScaleFactor () / 100.0);
    axes_tubes->SetNumberOfSides (6);
 
    vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
    axes_mapper->SetScalarModeToUsePointData ();
    axes_mapper->SetInputData (axes_tubes->GetOutput ());
 
    axes_actor_ = vtkSmartPointer<vtkActor>::New ();
    axes_actor_->GetProperty ()->SetLighting (false);
    axes_actor_->SetMapper (axes_mapper);
 
    addActor (axes_actor_);
  }
 
  // Accessors
  // -----------------------------------------------------------------------------
  inline vtkSmartPointer<vtkAxes>
  getAxes () const
  {
    return axes_;
  }
 
  vtkSmartPointer<vtkActor>
  getAxesActor () const
  {
    return axes_actor_;
  }
 
private:
 
  // Members
  // -----------------------------------------------------------------------------
  vtkSmartPointer<vtkAxes> axes_;
  vtkSmartPointer<vtkActor> axes_actor_;
 
};