diff --git a/y2023/localizer/utils.cc b/y2023/localizer/utils.cc
new file mode 100644
index 0000000..7faca1f
--- /dev/null
+++ b/y2023/localizer/utils.cc
@@ -0,0 +1,14 @@
+#include "y2023/localizer/utils.h"
+
+namespace y2023::localizer {
+Eigen::Matrix<double, 4, 4> PoseToTransform(
+    const frc971::vision::TargetPoseFbs *pose) {
+  const frc971::vision::Position *position = pose->position();
+  const frc971::vision::Quaternion *quaternion = pose->orientation();
+  return (Eigen::Translation3d(
+              Eigen::Vector3d(position->x(), position->y(), position->z())) *
+          Eigen::Quaterniond(quaternion->w(), quaternion->x(), quaternion->y(),
+                             quaternion->z()))
+      .matrix();
+}
+}  // namespace y2023::localizer