Hi @Gorakh22
There is a getRotationMatrix2D because images are 2D. By going into 3D world from images, you rising the complexity of the problem, so there is no getRotationMatrix3D, there are many non trivial geometric ways to get it instead, and they depend on context.
It will help us to help you help everyone if you provide some images of what you are trying to achieve.
For example, in the particular case of a rotated plane with texture, you can use homography, aka perspective transformation, like in this tutorial (on this link fist go to the bottom and see the videos).