MATLAB: Rotation Matrix 3D

matrixrotating array

Hello ,
I want to try to spin a matrix, but I can not. I have three 240×320 matrices (x, y, z, which are the cartesian points of a stereo camera scan) and have done 4 scans (front, right, left, back) and I want to rotate the Cartesian arrays with 90 degrees, 180 degrees in the back and 270 left to create a 360 degree view. and the rotation matrix, from what I read, has the size of 3×3 (rotate = [cosd (90) -sind (90) 0; sind (90) cosd (90) 0; 0 0 0 1]). I tried the following:
rotz = [cosd (90) -sind (90) 0; sind (90) cosd (90) 0; 0 0 0 1 ];
for i = 1:240
    for j = 1:320
        [0 0 x11(i,j)] = rotz.*[0 0 x11(i,j)];
    end
end
or :
for i = 1:240
    for j = 1:320
        x11(i,j) = rotz.*x11(i,j);
    end
end
Can anyone tell me how can I do that multiplication? Or if there is another option to rotate the matrix?
Thank you have a good day

Best Answer

Maybe something like this for your coordinates:
r_all = [x(:),y(:),z(:)];
r_rotated = (rotz*r_all')';
Xr = x;
Yr = y;
Zr = z;
Xr(:) = r_rotated(:,1);
Yr(:) = r_rotated(:,2);
Zr(:) = r_rotated(:,3);
HTH
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