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)
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/geometry/liegroup/se3.py