In the world coordinate system, there are objects with rotation values
rx1,ry1,rz1 and position values
Similarly, there is a camera in the world coordinate system with rotation values
rx2,ry2,rz2 and position values
What formula can be used to convert
rx1,ry1,rz1,px1,py1,pz1 to the camera coordinate system?
The up vector of the camera is the Y-axis, always oriented toward the object near the world origin.
I would like to calculate this with Python, but any answers, including mathematical statements, are welcome.