Method addCoordinateSystem

visualization/src/pcl_visualizer.cpp:660–698

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void
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const std::string &id, int viewport)
{
  if (scale <= 0.0)
    scale = 1.0;
  vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
  axes->SetOrigin (0, 0, 0);
  axes->SetScaleFactor (scale);
  axes->Update ();

  vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
  axes_colors->Allocate (6);
  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 () / 50.0);
  axes_tubes->SetNumberOfSides (6);

  vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
  axes_mapper->SetScalarModeToUsePointData ();
  axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());

  vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
  axes_actor->SetMapper (axes_mapper);

  // Save the ID and actor pair to the global actor map
  (*coordinate_actor_map_) [id] = axes_actor;

  addActorToRenderer (axes_actor, viewport);
}

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void