some of the tutorials

samples/cpp/tutorial_code/viz/widget_pose.cpp

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+/**
+ * @file creating_widgets.cpp
+ * @brief Creating custom widgets using VTK
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz.hpp>
+#include <opencv2/calib3d.hpp>
+#include <iostream>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------"   << endl
+    << "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
+    << "using Rodrigues matrix."                                                      << endl
+    << "Usage:"                                                                       << endl
+    << "./coordinate_frame"                                                           << endl
+    << endl;
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+    
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+    
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget());
+    
+    /// Add line to represent (1,1,1) axis
+    viz::LineWidget axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
+    axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Line Widget", axis);
+    
+    /// Construct a cube widget
+    viz::CubeWidget cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+    cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Cube Widget", cube_widget); 
+    
+    /// Rodrigues vector
+    Mat rot_vec = Mat::zeros(1,3,CV_32F);
+    float translation_phase = 0.0, translation = 0.0;
+    while(!myWindow.wasStopped())
+    {
+        /* Rotation using rodrigues */
+        /// Rotate around (1,1,1)
+        rot_vec.at<float>(0,0) += CV_PI * 0.01f;
+        rot_vec.at<float>(0,1) += CV_PI * 0.01f;
+        rot_vec.at<float>(0,2) += CV_PI * 0.01f;
+        
+        /// Shift on (1,1,1)
+        translation_phase += CV_PI * 0.01f;
+        translation = sin(translation_phase);
+        
+        Mat rot_mat;
+        Rodrigues(rot_vec, rot_mat); 
+        
+        /// Construct pose
+        Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+        
+        myWindow.setWidgetPose("Cube Widget", pose);
+        
+        myWindow.spinOnce(1, true);
+    }
+    
+    return 0;
+}