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 a quaternion and translation vector.
  
  Args:
      qxyz: tensor of shape :math:`(B, 7)`.
  
  Example:
      >>> qxyz = torch.tensor([1., 2., 3., 0., 0., 0., 1.])
      >>> s = Se3.from_qxyz(qxyz)
      >>> s.r
      Parameter containing:
      tensor([1., 2., 3., 0.], requires_grad=True)
      >>> s.t
      x: 0.0
      y: 0.0
      z: 1.0
code: def from_qxyz(cls, qxyz: Tensor) -> Se3:
      """Create a Se3 group a quaternion and translation vector.
  
      Args:
          qxyz: tensor of shape :math:`(B, 7)`.
  
      Example:
          >>> qxyz = torch.tensor([1., 2., 3., 0., 0., 0., 1.])
          >>> s = Se3.from_qxyz(qxyz)
          >>> s.r
          Parameter containing:
          tensor([1., 2., 3., 0.], requires_grad=True)
          >>> s.t
          x: 0.0
          y: 0.0
          z: 1.0
      """
      # KORNIA_CHECK_SHAPE(qxyz, ["B", "7"])  # FIXME: resolve shape bugs. @edgarriba
      q, xyz = qxyz[..., :4], qxyz[..., 4:]
      return cls(So3.from_wxyz(q), Vector3(xyz))
  
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 19 for calling the Se3 obj's underlying member method code with example usage: obj.from_qxyz(cls, qxyz) and returns: cls