def matrix(self) -> Tensor:
        """Return the matrix representation of shape :math:`(B, 3, 3)`.

        Example:
            >>> s = Se2(So2.identity(1), torch.ones(1, 2))
            >>> s.matrix()
            tensor([[[1., -0., 1.],
                     [0., 1., 1.],
                     [0., 0., 1.]]], grad_fn=<CopySlices>)

        """
        rt = concatenate((self.r.matrix(), self.t.data[..., None]), -1)
        rt_3x3 = pad(rt, (0, 0, 0, 1))  # add last row zeros
        rt_3x3[..., -1, -1] = 1.0
        return rt_3x3
Return the matrix representation of shape :math:`(B, 3, 3)`.

        Example:
            >>> s = Se2(So2.identity(1), torch.ones(1, 2))
            >>> s.matrix()
            tensor([[[1., -0., 1.],
                     [0., 1., 1.],
                     [0., 0., 1.]]], grad_fn=<CopySlices>)

        
kornia/geometry/liegroup/se2.py