Counterpart to pcl_ros::transformAsMatrix ?

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Hi,

I understand pcl_ros::transformAsMatrix(const tf::Transform& bt, Eigen::Matrix4f &out_mat) can be used to convert a tf::transform to a 4x4 matrix describing the same transformation.

I am now looking for a method that does the same thing backwards, converting a 4x4 matrix to a tf::transform.

Is such a method already implemented somewhere?

Thanks

EDIT: Solution that works for me, thanks to Eric:

  Eigen::Matrix4f mf; //The matrix I want to convert
  Eigen::Matrix4d md(mf.cast<double>());
  Eigen::Affine3d affine(md);
  tf::Transform transform;
  tf::TransformEigenToTF(affine, transform);