# rotationVectorToMatrix

(Not recommended) Convert 3-D rotation vector to rotation matrix

`rotationVectorToMatrix` is not recommended. Use the `rotvec2mat3d` function instead. For more information, see Compatibility Considerations.

## Syntax

``rotationMatrix = rotationVectorToMatrix(rotationVector)``

## Description

example

````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 = 3×3 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, Emanuele, and Alessandro Verri. Introductory Techniques for 3-D Computer Vision. Upper Saddle River, NJ: Prentice Hall, 1998.

## Version History

Introduced in R2016a

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### R2022b: Not recommended

Starting in R2022b, most Computer Vision Toolbox™ functions create and perform geometric transformations using the premultiply convention. However, the `rotationVectorToMatrix` function uses the postmultiply convention. Although there are no plans to remove `rotationVectorToMatrix` at this time, you can streamline your geometric transformation workflows by switching to the `rotvec2mat3d` function, which supports the premultiply convention. For more information, see Migrate Geometric Transformations to Premultiply Convention.

• Change instances of the function name `rotationVectorToMatrix` to `rotvec2mat3d`.
• You do not need to change the input argument, `rotationVector`. The `rotvec2mat3d` function automatically returns the rotation matrix using the premultiply convention.