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Easy way to transform a geometry_msgs::Pose by a 4x4 Rotation Matrix

asked 2012-12-06 14:59:39 -0600

Muadibz gravatar image

updated 2014-01-28 17:14:29 -0600

ngrennan gravatar image

Hello All,

I feel as if there should be a way for me to easily translate and rotate a geometry_msgs::Pose by a 4x4 rotation matrix given to me as the final transformation from a registration in the Point Cloud Library.

I'm not sure of how I should go about performing this operation.


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answered 2012-12-06 21:30:35 -0600

Lorenz gravatar image

You can use tf's poseMsgToTF method. It will generate a tf::Pose instance which is essentially similar to Bullet's Transform class. You can use the methods getBasis and getOrigin to construct the matrix.

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Asked: 2012-12-06 14:59:39 -0600

Seen: 1,614 times

Last updated: Dec 06 '12