title: Non orthogonal to Orthogonal coordinates system conversion in Python
body: <p>I have a vector in a non-orthogonal coordinate system spanned by axes a,b,c and their Euler angles alpha(between b&amp;c),beta(between c&amp;a),gamma(between a&amp;b). I want to convert this vector to an orthogonal coordinate system spanned by x,y,z. I assume that axes a and x coincide while conversion.
  I can do it mathematically by solving equations for coordinates, but I was wondering if there exists any library in Python to do it efficiently.
  (I found a library  - transforms3d. But I couldn't understand its documentation well.)</p>