import numpy as np
from gaussian import Convert_v2, Inverse_v2
def get_T():
  h = 19.34
  rot = [[-0.330806583166, -0.941249847412, 0.067936882377],
         [0.943696200848, -0.329787790775, 0.026026830077],
         [-0.002092991956, 0.072721630335 ,0.997349977493]]
  rot = np.array(rot)
  BL = [31.2840452,121.1597165]
  XY = Convert_v2(BL)
  # print(XY)
  Trans = np.zeros([4,4])
  Trans[:3,:3] = rot
  Trans[0,3] = XY[0]
  Trans[1,3] = XY[1]
  Trans[2,3] = h
  Trans[3,3] = 1

  return Trans


print(get_T())