Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Conversion between Eigen::Matrix4d and geometry_msgs::TransformStamped?

asked 2020-11-18 05:43:49 -0500

Martian
7 ●3 ●4 ●6

updated 2022-07-02 08:19:17 -0500

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

What would be the correct conversion from Eigen::Matrix4d to geometry_msgs::TransformStamped or geometry_msgs::Transform, and from geometry_msgs::TransformStamped or geometry_msgs::Transform to Eigen::Matrix4d? Appreciate any help:-)

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2020-11-18 08:49:09 -0500

xibeisiber

137 ●28 ●44 ●43

you can use tf2::transformToEigen to convert geometry_msgs::Transform or geometry_msgs::TransformStamped to Eigen::Isometry3d as shown in tf2_eigen.h.

The Eigen::Isometry3d is actually a 4x4 matrix.

edit flag offensive delete link

Comments

Thanks for the reference. So basically Eigen::Isometry3d.matrix() returns an Eigen::Matrix4d

Martian ( 2020-11-19 04:46:28 -0500 )edit

add a comment

Question Tools

2 followers

Stats

Asked: 2020-11-18 05:43:49 -0500

Seen: 1,570 times

Last updated: Nov 18 '20

Conversion between Eigen::Matrix4d and geometry_msgs::TransformStamped? edit

1 Answer

Comments

Question Tools

Stats

Related questions

Conversion between Eigen::Matrix4d and geometry_msgs::TransformStamped?