 # convert camera to blender, math help

hi,
i have to convert a bunch of cameras from origin/up/focal point format to blender’s location/rotation/dof distance. i was able to make location work but the rest is just too much for my skills. here is the part of code is run from command line, it should make a simple setup script for every camera. source axes are: X left/right, Y up/down Z forward(+)/backward(-)
please help ``````
def convert_cam(cam):
values = cam.getValues()
step = cam.getStep(0)

shutter = 1/values['shutter']
sensor_fit = 'HORIZONTAL'
sensor_width = values['filmWidth']*1000
sensor_height = values['filmHeight']*1000
iso = values['iso']
xres = values['xRes']
yres = values['yRes']
pixel_aspect = values['pixelAspect']

origin = step
focal_point = step
up = step
focal_length = step*1000
fstop = step

write_py("""
import bpy
from mathutils import *
from bpy_extras.io_utils import axis_conversion

transform = axis_conversion(from_forward='-Y',to_forward='Z',from_up='Z',to_up='Y').to_4x4()
origin = Vector(({0},{1},{2}))
loc = origin * transform

up = Vector(({3},{4},{5}))
# how to get rotation?
rot = Vector((0.0,0.0,0.0))

fp = Vector(({6},{7},{8}))
# how to get distance?
dof_distance = 0.0

bpy.ops.object.camera_add(view_align=False,enter_editmode=False,location=loc,rotation=rot)
cam = bpy.context.active_object.data
cam.lens = {9}
cam.dof_distance = dof_distance
cam.sensor_fit = '{10}'
cam.sensor_width = {11}
cam.sensor_height = {12}
render = bpy.context.scene.render
render.resolution_x = {13}
render.resolution_y = {14}

bpy.context.active_object.data.lens = focal_length
""".format(
origin.x(),origin.y(),origin.z(),
up.x(),up.y(),up.z(),
focal_point.x(),focal_point.y(),focal_point.z(),
focal_length,sensor_fit,sensor_width,sensor_height,xres,yres,
)
)

``````