def print_rotation_angle(RT):
    R = RT[:, 0:3]
    V = R.dot(np.array([0, 0, 1]))
    print('\x1b[92mV:', V)
    print(('phi = %f degree' % math.degrees(math.atan((V[0] / V[2])))))
    print(('theta = %f degree' % math.sqrt(((V[0] ** 2) + (V[2] ** 2)))))
    print('\x1b[0m')
def print_rotation_angle(RT):
    R = RT[:, 0:3]
    V = R.dot(np.array([0, 0, 1]))
    print('\x1b[92mV:', V)
    print(('phi = %f degree' % math.degrees(math.atan((V[0] / V[2])))))
    print(('theta = %f degree' % math.sqrt(((V[0] ** 2) + (V[2] ** 2)))))
    print('\x1b[0m')