theta_in_degrees = 10
theta_in_radians = theta_in_degrees*math.pi/180
ux=0.0
uy=0.0
uz=1.0
vector_normalize_factor = math.sqrt(ux*ux+uy*uy+uz*uz)
ux=ux/vector_normalize_factor
uy=uy/vector_normalize_factor
uz=uz/vector_normalize_factor
print "ux*ux+uy*uy+uz*uz = ", ux*ux+uy*uy+uz*uz
rotation_matrix = np.zeros([3,3])
c1 = math.cos(theta_in_radians)
c2 = 1-c1
s1 = math.sin(theta_in_radians)
rotation_matrix[0][0] = c1+ux*ux*c2
rotation_matrix[0][1] = ux*uy*c2-uz*s1
rotation_matrix[0][2] = ux*uz*c2+uy*s1
rotation_matrix[1][0] = uy*ux*c2+uz*s1
rotation_matrix[1][1] = c1+uy*uy*c2
rotation_matrix[1][2] = uy*uz*c2-ux*s1
rotation_matrix[2][0] = uz*ux*c2-uy*s1
rotation_matrix[2][1] = uz*uy*c2+ux*s1
rotation_matrix[2][2] = c1+uz*uz*c2
print "rotation_matrix = ", rotation_matrix
R = rotation_matrix
#Calculate homography H1 between reference top view and rotated frame
k_inv = np.linalg.inv(k)
Hi = k.dot(R)
Hii = k_inv.dot(h)
H1 = Hi.dot(Hii)
print "H1 = ", H1
im_out = cv2.warpPerspective(im_src, H1, (im_dst.shape[1],im_dst.shape[0]))

[[  1.71025842e+00  -7.51761942e-01   1.02803446e+02]
 [ -2.98552735e-16   1.39232576e-01   1.62792482e+02]
 [ -1.13518150e-18  -2.27094753e-03   1.00000000e+00]]

[[  1.41009391e+09   0.00000000e+00   5.14000000e+02]
 [  0.00000000e+00   1.78412347e+02   1.17000000e+02]
 [  0.00000000e+00   0.00000000e+00   1.00000000e+00]]