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))
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/geometry/liegroup/se3.py