What is the method similar to BABYLONJS

BABYLONJS has this method to calculate rotation BABYLON.Quaternion.RotationQuaternionFromAxis(xaxis(v3), yaxis(v3), zaxis(v3));

what is method similar to use in threejs

Quaternion.setFromAxisAngle( axis, angle);

I’m not sure this is the correct method. The method from BabylonJS creates the quaternion from three vectors. It seems to me this workflow is more correct:

matrix.makeBasis( xAxis, yAxis, zAxis );
quaternion.setFromRotationMatrix( matrix );