Affine3f

cv::Vec3f r, t;
cv::Affine3f T(r, t);

translation_phase += CV_PI * 0.01f;
translation = sin(translation_phase);
Mat rot_mat;
Rodrigues(rot_vec, rot_mat);
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));

设置立方体