Pose will bring point in world into camera coordinate, [R|t]=[R|-RC] R rotate camera to world coordinate, C is camara in world coordinate, and t is world origin in camera coordinate.

rotation_in_pose.py

"""
Camera pose=[R|t]=[R|-RC], R: rotate camera to world, C: camera in world, t: world origin in camera coordinate.
"""
import transforms3d
import math
import numpy as np


def pitch_yaw_roll_C_apply_point(pitch, yaw, roll, C, p_w):

    # pitch, yaw, roll = 10, 20, 30
    # x, y, z = 0, 90, 0

    x=math.radians(pitch)
    y=math.radians(yaw)
    z=math.radians(roll)

    R_w2c = transforms3d.euler.euler2mat(x, y, z, axes='rxyz')

    R_c2w = R_w2c.T

    C = np.array(C).reshape(3, 1)
    t = -np.dot(R_c2w, C)

    p_w = np.array(p_w).reshape(3, 1)

    p_c = np.dot(R_c2w, p_w)+t

    return t, p_c

if __name__ == '__main__':

    pitch, yaw, roll, C = 0, 90, 0, [10, 0, 0]
    p_w = [0, 0, 10]
    t, p_c = pitch_yaw_roll_C_apply_point(pitch, yaw, roll, C, p_w)

    assert np.allclose(t.flatten(), [0, 0, -10])
    assert np.allclose(p_c.flatten(), [-10, 0, -10])

    pitch, yaw, roll, C = 90, 0, -90, [10, 0, 0]
    p_w = [0, 0, 10]
    t, p_c = pitch_yaw_roll_C_apply_point(pitch, yaw, roll, C, p_w)

    assert np.allclose(t.flatten(), [0, -10, 0])
    assert np.allclose(p_c.flatten(), [-10, -10, 0])