pypose.identity_Sim3¶

class pypose.identity_Sim3(*lsize, **kwargs)[source]¶

Returns identity Sim3_type LieTensor with the given lsize.

See Sim3() for implementation details.

Parameters

lsize (int..., optional) – a sequence of integers defining the LieTensor.lshape of the output LieTensor. Can be a variable number of arguments or a collection like a list or tuple. If not given, a single Sim3_type item will be returned.
requires_grad (bool, optional) – If autograd should record operations on the returned tensor. Default: False.
generator (torch.Generator, optional) – a pseudorandom number generator for sampling
dtype (torch.dtype, optional) – the desired data type of returned tensor. Default: if None, uses a global default (see torch.set_default_tensor_type()).
layout (torch.layout, optional) – the desired layout of returned Tensor. Default: torch.strided.
device (torch.device, optional) – the desired device of returned tensor. Default: if None, uses the current device for the default tensor type (see torch.set_default_tensor_type()). device will be the CPU for CPU tensor types and the current CUDA device for CUDA tensor types.

Returns

a Sim3_type LieTensor

Return type

LieTensor

Example

>>> pp.identity_Sim3()
Sim3Type LieTensor:
tensor([0., 0., 0., 0., 0., 0., 1., 1.])

>>> pp.identity_Sim3(2)
Sim3Type LieTensor:
tensor([[0., 0., 0., 0., 0., 0., 1., 1.],
        [0., 0., 0., 0., 0., 0., 1., 1.]])

>>> pp.identity_Sim3(2, 1)
Sim3Type LieTensor:
tensor([[[0., 0., 0., 0., 0., 0., 1., 1.]],
        [[0., 0., 0., 0., 0., 0., 1., 1.]]])

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