python代码，两个4*4旋转矩阵之间的位姿变化，相对旋转矩阵

python代码，两个4*4旋转矩阵之间的位姿变化，也就是求两个旋转矩阵之间的相对旋转矩阵

import numpy as np

def get_transform_matrix(rot_mat1, rot_mat2):
    # 两个位姿之间的位姿变化矩阵；1 是前一帧； 2是后一帧；
    """Calculate the transformation matrix that transforms points or vectors from the coordinate frame
    represented by rot_mat1 to the coordinate frame represented by rot_mat2."""
    # rot_mat_diff = np.dot(rot_mat2, np.linalg.inv(rot_mat1))
    # rot_mat_diff = np.dot(np.linalg.inv(rot_mat2), rot_mat1)
    rot_mat_diff = np.dot(np.linalg.inv(rot_mat1), rot_mat2)
    print(rot_mat_diff.shape)
    # transform_matrix = np.eye(4)
    # transform_matrix[:3, :3] = rot_mat_diff
    transform_matrix= rot_mat_diff
    return transform_matrix

# Example usage:
rot_mat1 = np.array([[1, 0, 0, 0],
                     [0, 1, 0, 0],
                     [0, 0, 1, 0],
                     [0, 0, 0, 1]])  #