How to create rotation matrix with the help of rotation given by apriltag

I am getting x_rotation, y_rotation and z_rotation from apriltag. I want to create a rotation matrix with the help of these rotations. Which euler sequence should i follow xyz, zyx or something else?
If I know a fix point with respect to camera I want to find out its coordinate with respect to the april tag. What transformation matrix should I follow?

Hi, I don’t have any knowledge on how to do this. Generally, there are plenty of posts about how to do math online for 3D rotation.