Thank you for your reply.
The above value is the ImageOrientationPatient value from DICOM and I referenced the tow sites below.
https://nipy.org/nibabel/dicom/dicom_orientation.html 15
http://dicomiseasy.blogspot.com/2013/06/getting-oriented-using-image-plane.html 9
If I understand right, ImageOrientationPatient is a 3D Normalized Vector, in my case
X-Vector is row direction, [0.99896972112790,-0.0428598338637,0.01491746998657] =[Xx,Xy,Xz]
and Y-Vector is column direction,
[0.04301557426519,0.99902150615699,-0.0102805946813]=[Yx,Yy,Yz].
When referring to the first referenced site, the 3x3 rotation matrix is probably:
[Xx, Yx, 0,
Xy, Yy, 0,
Xz, Yz, 0]