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to multiply a matrix to a vector use * :

cv::Mat_<float> rotation_matrix = cv::Mat::eye(3, 3, CV_32FC1);

rotation_matrix(0, 0) = 2;
/* Translation vector */
cv::Vec3f current_translation(1.2,
    2.3,
    3.1);
std::cout << current_translation << std::endl;
std::cout << rotation_matrix << std::endl;
std::cout << rotation_matrix*Mat(current_translation) << std::endl;