输入一个旋转角度，以及一个旋转轴，可以求出空间中任意点的旋转矩阵 注意角度用弧度单位-Given input: r: angle to rotate, in rads Axis: axis of rotation, defined as a 3point which connects to the origin. Output: 3x3 Matrix R such that for an arbitrary point v, Rv is the poi

该程序是将摄像机旋转矩阵反求得到欧拉角过程，算法简单，容易操作。-The program is to get the camera rotation matrix Euler angle reverse the process, the algorithm is simple, easy to operate.