class_docstr: Base class to represent the Se3 group.
  
  The SE(3) is the group of rigid body transformations about the origin of three-dimensional Euclidean
  space :math:`R^3` under the operation of composition.
  See more: https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf
  
  Example:
      >>> q = Quaternion.identity()
      >>> s = Se3(q, torch.ones(3))
      >>> s.r
      Parameter containing:
      tensor([1., 0., 0., 0.], requires_grad=True)
      >>> s.t
      Parameter containing:
      tensor([1., 1., 1.], requires_grad=True)
docstr: Create a Se3 group from a matrix.
  
  Args:
      matrix: tensor of shape :math:`(B, 4, 4)`.
  
  Example:
      >>> s = Se3.from_matrix(torch.eye(4))
      >>> s.r
      Parameter containing:
      tensor([1., 0., 0., 0.], requires_grad=True)
      >>> s.t
      Parameter containing:
      tensor([0., 0., 0.], requires_grad=True)
code: def from_matrix(cls, matrix: Tensor) -> Se3:
      """Create a Se3 group from a matrix.
  
      Args:
          matrix: tensor of shape :math:`(B, 4, 4)`.
  
      Example:
          >>> s = Se3.from_matrix(torch.eye(4))
          >>> s.r
          Parameter containing:
          tensor([1., 0., 0., 0.], requires_grad=True)
          >>> s.t
          Parameter containing:
          tensor([0., 0., 0.], requires_grad=True)
      """
      # KORNIA_CHECK_SHAPE(matrix, ["B", "4", "4"])  # FIXME: resolve shape bugs. @edgarriba
      r = So3.from_matrix(matrix[..., :3, :3])
      t = matrix[..., :3, -1]
      return cls(r, t)
  
imports: from __future__ import annotations
  from typing import Optional
  from kornia.core import Device, Dtype, Module, Parameter, Tensor, concatenate, eye, pad, stack, tensor, where, zeros_like
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_SAME_DEVICES
  from kornia.geometry.liegroup.so3 import So3
  from kornia.geometry.linalg import batched_dot_product
  from kornia.geometry.quaternion import Quaternion
  from kornia.geometry.vector import Vector3
label_desc: Use image node_id 18 for calling the Se3 obj's underlying member method code with example usage: obj.from_matrix(cls, matrix) and returns: cls