   46</span>&#160;  Eigen::Quaterniond q(T.block&lt;3, 3&gt;(0, 0));</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  tf::Transform tf_T;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  tf_T.setRotation(tf::Quaternion(q.x(), q.y(), q.z(), q.w()));</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  tf_T.setOrigin(tf::Vector3(T(0, 3), T(1, 3), T(2, 3)));</div>
<div class="line"><a name="l00050"></a><s