Convert

mat2SO3	Convert batched rotation or transformation matrices to SO3Type LieTensor.
mat2SE3	Convert batched rotation or transformation matrices to SE3Type LieTensor.
mat2Sim3	Convert batched rotation or transformation matrices to Sim3Type LieTensor.
mat2RxSO3	Convert batched rotation or transformation matrices to RxSO3Type LieTensor.
from_matrix	Convert batched rotation or transformation matrices to LieTensor.
euler2SO3	Convert batched Euler angles (roll, pitch, and yaw) to SO3Type LieTensor.
vec2skew	Convert batched vectors to skew matrices.
tensor	Convert a LieTensor into a torch.Tensor without changing data.
translation	Extract the translation part from a LieTensor.
rotation	Extract the rotation part from a LieTensor.
euler	Convert batched LieTensor into Euler angles (roll, pitch, yaw).
scale	Extract the scale part from a LieTensor.
matrix	Convert a LieTensor into matrix form.
quat2unit	Normalize the quaternion part of a LieTensor, which has to be a Lie group.
cart2homo	Converts batched Cartesian coordinates to Homogeneous coordinates by adding ones to last dimension.
homo2cart	Converts batched Homogeneous coordinates to Cartesian coordinates by dividing the last row.
point2pixel	Project batched sets of points (either in camera or world frame) to pixels.
pixel2point	Convert batch of pixels with depth into points (in camera coordinate)