# Clopema libs (package)¶

The **clopema_libs** package is a collection of C++ and Python functions and libraries. Both implementations should provide same functionality. The functionality should be tested. The source code is divide in two directories src_cpp and src_python for C++ and Python respectively.

The python implementation is tested using doctest.

- topic_utils Tools to work with topics.

## Geometry¶

### Plane line intersection¶

### Rotation axis and angle¶

### Rotation axis and angle to matrix¶

### Normal from three points¶

### Quaternion from rotation matrix¶

## Camera¶

### Projection matrix decomposition¶

>>> K = np.matrix([[1,0,50],[0,2,50],[0,0,1]]) >>> R = np.matrix([[-1,0,0],[0,1,0],[0,0,-1]]) >>> t = np.matrix([10,-10,0]) >>> P = K*np.hstack((R,t.T)) >>> K_,R_,t_ = P2KRt(P) >>> np.all(K_ == K) True >>> np.all(R_ == R) True >>> np.all(t_ == t) True