I'm an embedded developer here with very little experience in computer graphics. I'm currently working on a GUI that can display a calculated inertial solution at run time. I have hardware that can send an IMU's attitude (pitch, roll, and heading angles) to a PC. Currently I can display those numbers on the screen in real time, which change as I move the IMU in my hand. However, at the moment they are only numbers on a screen.
I'm wanting to take it to the next level and display 3 orthogonal vectors rotating around a fixed reference frame (see screenshot attached). This rotation would take place in real time. The entire inertial solution is already calculated elsewhere, and outputs the 3 Euler angles required for the rotation. As far as the math goes, I think I'm moderately comfortable with the rotation matrix required here, I just don't know the best way to go about implementing this in terms of what software/libraries/programs to use. I also don't know if I'm over trivializing the effort here. Can someone point me in the right direction on how to implement this on the graphics side of things?