X軸

{1,0,0},
{0,cosΘ,-sinΘ},
{0,sinΘ,cosΘ}

Y軸

{cosΘ,0,sinΘ},
{0,1,0},
{-sinΘ,0,cosΘ}

Z軸

{cosΘ,-sinΘ,0},
{sinΘ,cosΘ,0},
{0,0,1}