给你时间戳，经纬度，欧拉角，怎么用python将这些数据转换成tum格式

可以使用以下代码将这些数据转换成tum格式：

import numpy as np
import os

# 定义时间戳、经纬度和欧拉角
timestamp = 123456789
latitude = 39.9
longitude = 116.4
roll = .1
pitch = .2
yaw = .3

# 将经纬度和欧拉角转换为旋转矩阵
R = np.array([[np.cos(yaw)*np.cos(pitch), np.cos(yaw)*np.sin(pitch)*np.sin(roll)-np.sin(yaw)*np.cos(roll), np.cos(yaw)*np.sin(pitch)*np.cos(roll)+np.sin(yaw)*np.sin(roll)],
              [np.sin(yaw)*np.cos(pitch), np.sin(yaw)*np.sin(pitch)*np.sin(roll)+np.cos(yaw)*np.cos(roll), np.sin(yaw)*np.sin(pitch)*np.cos(roll)-np.cos(yaw)*np.sin(roll)],
              [-np.sin(pitch), np.cos(pitch)*np.sin(roll), np.cos(pitch)*np.cos(roll)]])

# 将经纬度转换为xyz坐标
earth_radius = 6378137.
x = (longitude/180.)*np.pi*earth_radius
y = np.log(np.tan((90.+latitude)*np.pi/360.))*earth_radius
z = .

# 将时间戳、xyz坐标和旋转矩阵写入tum格式文件
filename = 'data.txt'
if not os.path.exists(filename):
    with open(filename, 'w') as f:
        f.write('# timestamp x y z qw qx qy qz\n')
with open(filename, 'a') as f:
    f.write('{} {} {} {} {} {} {} {}\n'.format(timestamp, x, y, z, R[,], R[,1], R[,2], R[1,], R[1,1], R[1,2], R[2,], R[2,1], R[2,2]))

其中，timestamp是时间戳，latitude和longitude是经纬度，roll、pitch和yaw是欧拉角。代码中将经纬度和欧拉角转换为旋转矩阵，然后将时间戳、xyz坐标和旋转矩阵写入tum格式文件。