Allow multiple colors in 3D glyph

In order to visualize the trajectory (position and orientation) over time of a referential (Robot arm referential, Camera, Lidar, integrated IMU, etc.) it would be very convenient to position 3 axis (X,Y,Z) oriented correctly at every/some points of the trajectory. Graphically the set of three axis would be similar to vtkAxesActor: the axis would be identified by a color (such as red for axis X, green for axis Y, blue for axis Z).

One solution that I am thinking of to achieve this is using a 3D glyph representation. The problem is that currently ParaView does not support multiple colors inside a 3D glyph. This is technically possible according to my discussion with @michael.migliore and @mwestphal but requires either writing a plugin or modifying ParaView.