c++ - Point Cloud Library: How to use pcl::addCoordinateSystem(double scale, const Eigen::Affine3f & t, int viewport = 0)) -

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i cannot understand how set transformation t in function:

pcl::addcoordinatesystem(double scale, const eigen::affine3f & t, int viewport = 0))

so question is: how can define eigen::affine3f?

i have rotation matrix , translation vector.

having known rotation , translation matrix, 1 can combine them affine3f. 

eigen::affine3f tt; tt = eigen::translation3f(100.,300.,0.) * eigen::angleaxis<float>(theta,axis);

note eigen::translation3f , eigen::angleaxis3f not matrices here of abstract type transform.


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