code: def pose_from_oxts_packet(packet, scale):
      
      er = 6378137.  # earth radius (approx.) in meters
  
      # Use a Mercator projection to get the translation vector
      tx = scale * packet.lon * np.pi * er / 180.
      ty = scale * er * \
          np.log(np.tan((90. + packet.lat) * np.pi / 360.))
      tz = packet.alt
      t = np.array([tx, ty, tz])
  
      # Use the Euler angles to get the rotation matrix
      Rx = rotx(packet.roll)
      Ry = roty(packet.pitch)
      Rz = rotz(packet.yaw)
      R = Rz.dot(Ry.dot(Rx))
  
      # Combine the translation and rotation into a homogeneous transform
      return R, t
docs: Helper method to compute a SE(3) pose matrix from an OXTS packet.