# Documentation

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# rotationVectorToMatrix

Convert 3-D rotation vector to rotation matrix

## Syntax

``rotationMatrix = rotationVectorToMatrix(rotationVector)``

## Description

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````rotationMatrix = rotationVectorToMatrix(rotationVector)` returns a 3-D rotation matrix that corresponds to the input axis-angle rotation vector. The function uses the Rodrigues formula for the computation.```

## Examples

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Create a vector representing a 90-degree rotation about the Z -axis.

`rotationVector = pi/2 * [0, 0, 1];`

Find the equivalent rotation matrix.

`rotationMatrix = rotationVectorToMatrix(rotationVector)`
```rotationMatrix = 0.0000 1.0000 0 -1.0000 0.0000 0 0 0 1.0000 ```

## Input Arguments

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Rotation vector, specified as a three-element vector. The vector represents the axis of rotation in 3-D, where the magnitude corresponds to the rotation angle in radians.

Data Types: `single` | `double`

## Output Arguments

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Rotation of camera, returned as a 3-by-3 matrix that corresponds to the input axis-angle rotation vector.

## References

[1] Trucco, E., and A. Verri. Introductory Techniques for 3-D Computer Vision." Prentice Hall, 1998.