3d point rotation

i have rotated image A (3D),using imrotate with 10 degree to creat image B. i selected 4 points in image A as coA=[x1 x2 x3 x4;y1 y2 y3 y4;z1 z2 z3 z4];i want to create a rotation matrix and get COB wich is the coresponding coordinates of these points on image B.