写一个布尔莎七参数模型的python代码，要求可以自己输入x,y,z轴逆时针旋转角度

布尔莎七参数模型(Bursa-Hansen Seven Parameters Model)是一种三维空间姿态描述方法，通常用于坐标系之间的转换，包括绕三个轴的旋转和平移操作。这里提供一个简单的Python代码示例，它允许用户输入x、y、z轴的逆时针旋转角度以及平移值：

import math

def bursa_hansen(x_rotation, y_rotation, z_rotation, x_translation, y_translation, z_translation):
    # 定义旋转矩阵
    Rx = [[1, 0, 0], [0, math.cos(x_rotation), -math.sin(x_rotation)], [0, math.sin(x_rotation), math.cos(x_rotation)]]
    Ry = [[math.cos(y_rotation), 0, math.sin(y_rotation)], [0, 1, 0], [-math.sin(y_rotation), 0, math.cos(y_rotation)]]
    Rz = [[math.cos(z_rotation), -math.sin(z_rotation), 0], [math.sin(z_rotation), math.cos(z_rotation), 0], [0, 0, 1]]

    # 定义平移矩阵
    T = [[1, 0, 0, x_translation],
         [0, 1, 0, y_translation],
         [0, 0, 1, z_translation],
         [0, 0, 0, 1]]

    # 三者相乘得到总变换矩阵
    transformation_matrix = T @ Rz @ Ry @ Rx

    return transformation_matrix

# 用户输入旋转角和平移值
x_angle_degrees = float(input("请输入X轴旋转角度(度): "))
y_angle_degrees = float(input("请输入Y轴旋转角度(度): "))
z_angle_degrees = float(input("请输入Z轴旋转角度(度): "))

x_translation = float(input("请输入X轴平移距离: "))
y_translation = float(input("请输入Y轴平移距离: "))
z_translation = float(input("请输入Z轴平移距离: "))

# 将角度转为弧度计算
x_angle_radians = math.radians(x_angle_degrees)
y_angle_radians = math.radians(y_angle_degrees)
z_angle_radians = math.radians(z_angle_degrees)

rotation_angles_and_translations = {
    'X': x_angle_radians,
    'Y': y_angle_radians,
    'Z': z_angle_radians,
    'X Translation': x_translation,
    'Y Translation': y_translation,
    'Z Translation': z_translation
}

# 调用函数并打印结果
transformation_matrix = bursa_hansen(**rotation_angles_and_translations)
print("旋转和平移后的变换矩阵:")
for row in transformation_matrix:
    print(row)