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.


Plane line intersection

Rotation axis and angle

Rotation axis and angle to matrix

Normal from three points

Quaternion from rotation matrix


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)                                                                                                                                                          
>>> np.all(R_ == R)                                                                                                                                                          
>>> np.all(t_ == t)