title: Conversions between tf and eigen
body: <pre class="lang-c++ prettyprint-override"><code>Eigen::Affine3f transform_temp = (Affine3f)transforms[i]; 
  const Eigen::Matrix3d rotation_part = transform_temp.rotation().cast&lt;double&gt;();
  const Eigen::Vector3d translation_part = transform_temp.translation().cast&lt;double&gt;();
  tf::Matrix3x3 rot;
  tf::Vector3 tra;
  tf::matrixEigenToTF(rotation_part, rot);
  tf::vectorEigenToTF(translation_part, tra);
  tf::Transform temp_transform(rot, tra);
  
  listener-&gt;lookupTransform (link, msg_in-&gt;header.frame_id, ros::Time(0), tfTransform);
  
  broadcaster-&gt;sendTransform(tf::StampedTransform(tfTransform * temp_transform.inverse(), ros::Time::now(), link,  "chess_board"));
  </code></pre>
  
  <p>I got the following error. Do not know why, I have <code>find_package(catkin REQUIRED COMPONENTS tf tf_conversions)</code> and also <code>target_link_libraries(${catkin_LIBRARIES})</code></p>
  
  <pre><code>undefined reference to `tf::matrixEigenToTF(Eigen::Matrix&lt;double, 3, 3, 1, 3, 3&gt; const&amp;, tf::Matrix3x3&amp;)'
  </code></pre>