In IBM Quantum Docs, it is stated that a unitary matrix can be defined as
$U = \begin{bmatrix} \cos(\theta/2) & -e^{j\lambda}\sin(\theta/2) \\ e^{j\phi}\sin(\theta/2) & e^{j\lambda+j\phi}\cos(\theta/2)\end{bmatrix}$
In the case of a qubit, the values of $\theta, \phi, \&\ \lambda$ represent an angle on the x axis, z axis, and a phase shift. Is there any analog to this when defining a gate as a unitary matrix using these same parameters, and if so, how can it be visualized?
