diff --git a/modules/viz/src/precomp.hpp b/modules/viz/src/precomp.hpp
index 12a042c154..69d20a5351 100644
--- a/modules/viz/src/precomp.hpp
+++ b/modules/viz/src/precomp.hpp
@@ -5,8 +5,6 @@
 #include <list>
 #include <vector>
 
-#include <Eigen/Geometry>
-
 #if defined __GNUC__
 #pragma GCC system_header
 #ifdef __DEPRECATED
diff --git a/modules/viz/src/viz3d_impl.cpp b/modules/viz/src/viz3d_impl.cpp
index 6e91338d3f..f6d560da97 100644
--- a/modules/viz/src/viz3d_impl.cpp
+++ b/modules/viz/src/viz3d_impl.cpp
@@ -472,24 +472,6 @@ void cv::viz::Viz3d::VizImpl::allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstr
 { polydata = vtkSmartPointer<vtkUnstructuredGrid>::New (); }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<float> &orientation, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix)
-{
-    // set rotation
-    Eigen::Matrix3f rot = orientation.toRotationMatrix ();
-    for (int i = 0; i < 3; i++)
-        for (int k = 0; k < 3; k++)
-            vtk_matrix->SetElement (i, k, rot (i, k));
-
-    // set translation
-    vtk_matrix->SetElement (0, 3, origin (0));
-    vtk_matrix->SetElement (1, 3, origin (1));
-    vtk_matrix->SetElement (2, 3, origin (2));
-    vtk_matrix->SetElement (3, 3, 1.0f);
-}
-
-
-//////////////////////////////////////////////////////////////////////////////////////////////
-
 void cv::viz::Viz3d::VizImpl::setFullScreen (bool mode)
 {
     if (window_)
diff --git a/modules/viz/src/viz3d_impl.hpp b/modules/viz/src/viz3d_impl.hpp
index 988b732f17..5dcd4bf857 100644
--- a/modules/viz/src/viz3d_impl.hpp
+++ b/modules/viz/src/viz3d_impl.hpp
@@ -190,17 +190,9 @@ namespace cv
 {
     namespace viz
     {
-        //void getTransformationMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternionf& orientation, Eigen::Matrix4f &transformation);
         vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f &m);
         cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix);
 
-        /** \brief Convert origin and orientation to vtkMatrix4x4
-              * \param[in] origin the point cloud origin
-              * \param[in] orientation the point cloud orientation
-              * \param[out] vtk_matrix the resultant VTK 4x4 matrix
-              */
-        void convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<float> &orientation, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix);
-
         struct NanFilter
         {
             template<typename _Tp, typename _Msk>