How to use the tweakwcs.wcsutils.planar_rot_3d function in tweakwcs

if self.catalog is None:
            return

        # Find an "optimal" tangent plane to the catalog points based on the
        # mean point and then construct a WCS based on the mean point.
        # Compute x, y coordinates in this tangent plane based on the
        # previously computed WCS and return the set of x, y coordinates and
        # "reference WCS".
        x, y, z = _S2C(self.catalog['RA'], self.catalog['DEC'])
        ra_ref, dec_ref = _C2S(
            x.mean(dtype=np.double),
            y.mean(dtype=np.double),
            z.mean(dtype=np.double)
        )

        rotm = [planar_rot_3d(np.deg2rad(alpha), 2 - axis)
                for axis, alpha in enumerate([ra_ref, dec_ref])]
        euler_rot = np.linalg.multi_dot(rotm)
        inv_euler_rot = inv(euler_rot)
        xr, yr, zr = np.dot(euler_rot, (x, y, z))
        x = yr / xr
        y = zr / xr

        xv, yv = convex_hull(x, y)

        if len(xv) == 0:
            # no points
            raise RuntimeError(  # pragma: no cover
                "Unexpected error: Contact software developer"
            )

        elif len(xv) == 1: