def extrinsics(self) -> Tensor:
        r"""The full 4x4 extrinsics matrix.

        Returns:
            tensor of shape :math:`(B, 4, 4)`.

        """
        if not self._check_valid_params(self._extrinsics, "extrinsics"):
            raise AssertionError
        return self._extrinsics
The full 4x4 extrinsics matrix.

        Returns:
            tensor of shape :math:`(B, 4, 4)`.

        
kornia/geometry/camera/pinhole.py