def matrix(self) -> Tensor:
        """Return the matrix representation of shape :math:`(B, 4, 4)`.

        Example:
            >>> s = Se3(So3.identity(), torch.ones(3))
            >>> s.matrix()
            tensor([[1., 0., 0., 1.],
                    [0., 1., 0., 1.],
                    [0., 0., 1., 1.],
                    [0., 0., 0., 1.]], grad_fn=<CopySlices>)

        """
        rt = concatenate((self.r.matrix(), self.t.data[..., None]), -1)
        rt_4x4 = pad(rt, (0, 0, 0, 1))  # add last row zeros
        rt_4x4[..., -1, -1] = 1.0
        return rt_4x4
Return the matrix representation of shape :math:`(B, 4, 4)`.

        Example:
            >>> s = Se3(So3.identity(), torch.ones(3))
            >>> s.matrix()
            tensor([[1., 0., 0., 1.],
                    [0., 1., 0., 1.],
                    [0., 0., 1., 1.],
                    [0., 0., 0., 1.]], grad_fn=<CopySlices>)

        
kornia/geometry/liegroup/se3.py