docstr: Return the inverse of self._matrix.
docstr_tok: ["Return","the","inverse","of","self._matrix","."]
code: def _get_matrix_inverse(self) -> torch.Tensor:
      """
      Return the inverse of self._matrix.
      """
      xyz = torch.stack(
          [self._matrix[:, i, i] for i in range(4)], dim=1
      )
      # pyre-fixme[58]: `/` is not supported for operand types `float` and `Tensor`.
      ixyz = 1.0 / xyz
      # pyre-fixme[6]: For 1st param expected `Tensor` but got `float`.
      imat = torch.diag_embed(ixyz, dim1=1, dim2=2)
      return imat
  
imports: import math
  import os
  import warnings
  from typing import List, Optional, Union
  import torch
  from ..common.datatypes import Device, get_device, make_device
  from ..common.workaround import _safe_det_3x3
  from .rotation_conversions import _axis_angle_rotation
  from .se3 import se3_log_map
label_desc: Use image node_id 2 for calling the Scale obj's underlying member method code with example usage: obj._get_matrix_inverse() and returns: imat