pypose.matrix

pypose.matrix(inputs)

Convert a LieTensor into matrix form.

Parameters

inputs (LieTensor) – the input LieTensor.

Returns

the batched matrix form (torch.Tensor) of LieTensor.

Return type

Tensor

Example

>>> x = pp.randn_SO3(2)
>>> x.matrix()
tensor([[[ 0.9285, -0.0040, -0.3713],
         [ 0.2503,  0.7454,  0.6178],
         [ 0.2743, -0.6666,  0.6931]],
        [[ 0.4805,  0.8602, -0.1706],
         [-0.7465,  0.2991, -0.5944],
         [-0.4603,  0.4130,  0.7858]]])