Function pcl_ros::transformAsMatrix(const geometry_msgs::msg::TransformStamped&, Eigen::Matrix4f&)

Function Documentation

void pcl_ros::transformAsMatrix(const geometry_msgs::msg::TransformStamped &bt, Eigen::Matrix4f &out_mat)

Obtain the transformation matrix from TF into an Eigen form.

Parameters:
  • bt – the TF transformation

  • out_mat – the Eigen transformation