How to convert Eigen::Matrix4f to Eigen::Affine3f [closed]

Question

I want to convert a matrix from Eigen::Matrix4f to Eigen::Affine3f Any one help?

Thanks

Answer 1

Eigen::Affine3f is a typedef of Eigen::Transform<float, 3, Eigen::Affine>. According to the reference, the type has a member function MatrixType & matrix () which gives you matrix interface.

Eigen::Matrix4f a;
Eigen::Affine3f b;
b.matrix() = a;

Answer 2

operator= will do:

Matrix4f M;
Affine3f F;
F = M;