source: proiecte/pmake3d/make3d_original/Make3dSingleImageStanford_version0.1/image3dstiching/useful/Build3DRotationM.m @ 37

% *  This code was used in the following articles:
% *  [1] Learning 3-D Scene Structure from a Single Still Image, 
% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng, 
% *      In ICCV workshop on 3D Representation for Recognition (3dRR-07), 2007.
% *      (best paper)
% *  [2] 3-D Reconstruction from Sparse Views using Monocular Vision, 
% *      Ashutosh Saxena, Min Sun, Andrew Y. Ng, 
% *      In ICCV workshop on Virtual Representations and Modeling 
% *      of Large-scale environments (VRML), 2007. 
% *  [3] 3-D Depth Reconstruction from a Single Still Image, 
% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. 
% *      International Journal of Computer Vision (IJCV), Aug 2007. 
% *  [6] Learning Depth from Single Monocular Images, 
% *      Ashutosh Saxena, Sung H. Chung, Andrew Y. Ng. 
% *      In Neural Information Processing Systems (NIPS) 18, 2005.
% *
% *  These articles are available at:
% *  http://make3d.stanford.edu/publications
% * 
% *  We request that you cite the papers [1], [3] and [6] in any of
% *  your reports that uses this code. 
% *  Further, if you use the code in image3dstiching/ (multiple image version),
% *  then please cite [2].
% *  
% *  If you use the code in third_party/, then PLEASE CITE and follow the
% *  LICENSE OF THE CORRESPONDING THIRD PARTY CODE.
% *
% *  Finally, this code is for non-commercial use only.  For further 
% *  information and to obtain a copy of the license, see 
% *
% *  http://make3d.stanford.edu/publications/code
% *
% *  Also, the software distributed under the License is distributed on an 
% * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either 
% *  express or implied.   See the License for the specific language governing 
% *  permissions and limitations under the License.
% *
% */
function [R] = Build3DRotationM(theta_x, theta_y, theta_z, order, FlagConv)

% import right hand rotation rule on moving object point (left hand rule for moving axis)
if nargin < 4
        FlagConv = false;
end

if FlagConv
        theta_x = theta_x/180*pi;
        theta_y = theta_y/180*pi;
        theta_z = theta_z/180*pi;
end

Rx = [1 0 0; 0 cos(theta_x) -sin(theta_x); 0 sin(theta_x) cos(theta_x) ];
Ry = [ cos(theta_y) 0 sin(theta_y); 0 1 0; -sin(theta_y) 0 cos(theta_y) ];
Rz = [ cos(theta_z) -sin(theta_z) 0;  sin(theta_z) cos(theta_z) 0;  0 0 1 ];

R = eye(3);
for i = 1:3
    if strcmp(order(i),'x')
        R = Rx*R;
    elseif strcmp(order(i),'y')
        R = Ry*R;
    elseif strcmp(order(i),'z')
        R = Rz*R;
    end
end

return;