pypose.scale

pypose.scale(inputs)

Extract the scale part from a LieTensor.

Parameters

inputs (LieTensor) – the input LieTensor.

Returns

the batched scale scalars.

Return type

Tensor

Warning

The SO3, so3, SE3, and se3 types do not contain scale. Calling scale() on these types will return one(s).

Example

>>> x = pp.randn_Sim3(4)
>>> x.scale()
tensor([[10.9577],
        [ 1.0248],
        [ 0.0947],
        [ 1.1989]])
>>> y = pp.randn_SE3(2)
>>> y.scale()
tensor([[1.],
        [1.]])