We present efficient angle-dependent low-energy Hamiltonians to describe the properties of the twisted bilayer graphene (tBLG) heterostructure, based on {it ab initio} calculations of mechanical relxation and electronic structure. The angle-dependent relaxed atomic geometry is determined by continuum elasticity theory, which induces both in-plane and out-of-plane deformations in the stacked graphene layers. The electronic properties corresponding to the deformed geometry are derived from a Wannier transformation to local interactions obtained from Density Functional Theory calculations. With these {it ab initio} tight-binding Hamiltonians of the relaxed heterostructure, the low-energy effective theories are derived from the projections near Dirac cones at K valleys. For twist angles ranging from 0.7$^circ$ to 4$^circ$, we extract both the intra-layer pseudo-gauge fields and the inter-layer coupling terms in the low-energy Hamiltonians, which extend the conventional low-energy continuum models. We further include the momentum dependent inter-layer scattering terms which give rise to the particle-hole asymmetric features of the electronic structure. Our model Hamiltonians can serve as a starting point for formulating physically meaningful, accurate interacting electron theories.
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