If I have 3 Euler-angles then how can I get rotation-vector to use it for camera-rotation in [OpenCV-viz3d](http://docs.opencv.org/2.4/modules/viz/doc/viz3d.html#)?
I.e. how can I get `Vec3d( X, Y, Z)` from [Euler-angles](https://en.wikipedia.org/wiki/Euler_angles) (alfa, betta, gamma) to use in this code?
viz::Viz3d viz_3d_window("Viz window");
cv::Affine3d pose = viz_3d_window.getViewerPose();
viz_3d_window.setViewerPose( pose.rotate( Vec3d( X, Y, Z) ) );
cv::Affine3d::rotate(); https://github.com/Itseez/opencv/blob/f9e2b036a502309c0da5abc5e711d4cd64eb8a38/modules/core/include/opencv2/core/affine.hpp#L114
I can find Euler-angles from rotation-matrix by using [RQDecomp3x3()](http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html?highlight=euler#rqdecomp3x3) or as shown in [that question](http://answers.opencv.org/question/8842/rotation-matrix-to-euler-angle/), but whether is there an inverse function in the OpenCV to find rotation-matrix from Euler-angles or better to find rotation-vector( `Vec3d( X, Y, Z)` )?
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