pypose.scale

pypose.scale(inputs)

Extract the scale part from a LieTensor.

Parameters:

inputs (LieTensor) – the input LieTensor.

Returns:

the batched scale scalars.

Return type:

Tensor

Warning

The SO3, so3, SE3, and se3 types do not contain scale. Calling scale() on these types will return one(s).

Example

>>> x = pp.randn_Sim3(4)
>>> x.scale()
tensor([[10.9577],
        [ 1.0248],
        [ 0.0947],
        [ 1.1989]])
>>> y = pp.randn_SE3(2)
>>> y.scale()
tensor([[1.],
        [1.]])