How to calculate the matrix that determines the rotation of the camera relative to the global coordinate system?

Question

Mathematics

I'm straight from here .

R is a 3 × 3 orthogonal matrix that determines the rotation of the camera relative to the global coordinate system

So, how to calculate this very matrix?

Answer 1

Wikipedia has a rotation matrix around an arbitrary axis. You can take the products of simpler matrices (at the beginning of the article) of three rotations around the x, y and z axes.