Method matrix

mapping/src/se3pose.py:18–22

(self)

        self.data = deepcopy(pose.data)

    def matrix(self):
        Rt = torch.eye(4)
        Rt[:3, :3] = self.rotation()
        Rt[:3, 3] = self.translation()
        return Rt

    def rotation(self):
        w = self.data[3:]