How to store the pose obtained from /tf as a numpy array

[sriramyab]

Hello, I am running my orb_slam code using a bluefox camera. When I do the rostopic echo /tf I get the following message: transforms:

header: seq: 0 stamp: secs: 1462249793 nsecs: 60380165 frame_id: ORB_SLAM/World child_frame_id: ORB_SLAM/Camera transform: translation: x: -0.343287557364 y: -0.115021876991 z: -0.0266443267465 rotation: x: -0.123994007992 y: 0.0984696623025 z: -0.0141856798061 w: 0.987283134791

I am aiming to store the values obtained at each instant into "python" list or string or array. So that I can utilize these measurements. Can anyone suggest a way to go about in? I also looked at this http://mirror.umd.edu/roswiki/doc/diamondback/api/tf/html/python/tf_python.html but couldn't figure out what exactly to be done.