code: def test_from_matrix(self, device, dtype, batch_size):
      matrix = torch.tensor(
          (
              (1.0, 0.0, 0.0, 0.0),
              (0.0, 0.0, -1.0, 0.0),
              (0.0, 1.0, 0.0, 0.0),
              (0.0, 0.0, 0.0, 1.0),
          ),
          device=device,
          dtype=dtype,
      )
      if batch_size is not None:
          matrix = matrix.repeat(batch_size, 1, 1)
      s = Se3.from_matrix(matrix)
      self.assert_close(s.r.matrix(), matrix[..., 0:3, 0:3])
      self.assert_close(s.t, matrix[..., 0:3, 3])
  
imports: import pytest
  import torch
  from kornia.geometry.conversions import euler_from_quaternion, rotation_matrix_to_quaternion
  from kornia.geometry.liegroup import Se3, So3
  from kornia.geometry.quaternion import Quaternion
  from kornia.geometry.vector import Vector3
  from kornia.testing import BaseTester
label_desc: Use image node_id 20 for calling the TestSe3 obj's underlying member method code with example usage: obj.test_from_matrix(device, dtype, batch_size) without return types