How to creating a Sophus::SE3f variable from a Eigen::Matrixf variable?

[Mechazo11]

How to creating a Sophus::SE3f variable from a Eigen::Matrixf variable?

[DmitriyKorchemkin]

Sophus::SE3f is a specialization of template class Sophus::SE3<T>

You need to use either

Sophus::SE3f mTca = Sophus::SE3f(Tcaru);

or just

Sophus::SE3f mTca(Tcaru);

[DmitriyKorchemkin]

There is a method Sophus::SE3<T>::matrix() that returns 4x4 matrix: https://github.com/strasdat/Sophus/blob/main-1.x/sophus/se3.hpp#L273-L279
It should be almost identical (up to non-orthogonality of top-left corner of the input matrix).

[Mechazo11]

@DmitriyKorchemkin Thanks, it works now. Before passing this SE3f object out to another node, I want to double-check if I copied the rotation and translation vector correctly from the Tcaru Eigen matrix. Is there any command to print a SE3f object into the console?

[Mechazo11]

@DmitriyKorchemkin thank you very much. I got the initialization and printing to console problems sorted thanks to your direction.

Have a wonderful day.