#ifndef TRANSFORMATIONS_H
  #define TRANSFORMATIONS_H
  
  /*!
      \defgroup transformations Transformations
      \ingroup camera_model Camera Model
      \brief Different definitions for rotations and translations
  */
  ///@{
  ///
  
  
  #include <stdio.h>
  #include <iostream>
  #include <opencv2/opencv.hpp>
  
  #include <cstdlib>
  #include <cmath>
  
  #ifndef PI
  #define PI       3.141592653589793238462643383279502884L
  #endif
  
  //! Construction and decomprosition of rotation matrices
  namespace rotmat{
      void decomposeEulerZYZ(const cv::Mat & R, double & t1, double & rho, double & t2);
  
      cv::Mat fromCameraMatrixAffine(const cv::Mat & P);
      cv::Mat fromEulerZYZ(double t1, double rho, double t2);
  }
  ///@}
  #endif