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In my research i used a DCM Matrix /Matrix of direct cosine/. This matrix provide (2D or 3D rotation od point). This method is very simply, but you need matrix calculations. On wikipedia you are able to find how to transform data. In our paper the example of matixies and calculations are shown.

Blockquote https://www.researchgate.net/publication/312140651_The_Depth_Map_Construction_from_a_3D_Point_Cloud Blockquote

In my research i used a DCM Matrix /Matrix of direct cosine/. This matrix provide provides (2D or 3D rotation od point). rotation) of point. This method is very simply, but you need matrix calculations. On wikipedia you are able to find how to transform data. In our paper the example of matixies and calculations are shown.

Blockquote https://www.researchgate.net/publication/312140651_The_Depth_Map_Construction_from_a_3D_Point_Cloud Blockquote