Unsolved Manipulators objects in 3D

[giusirux]

Hi everyone,
I'm really new to Qt. I'm working on application which manipulates 3D objects (like STL file). So, I found this pdf
https://www.kdab.com/wp-content/uploads/stories/qt3dinteraction.pdf
and I would like to set the background with cartesian plane (X Y) and when I click an object, its axises appears like this

Any suggestions?
I'm working with C++ and for now I'm able to load STL images, move objects in X Y Z coordinates and rotate partially them.