How to convert from 4*4 transformation matrix to se(3) using lietorch

Question

shomeAvataar opened this issue a year ago · 1 comments

I have a 4*4 transformation matrix (R|T). I need to convert it to a se(3) representation ie. a [6,1] vector. How to do the same using lietorch?

Answer 1 · 2024-04-27T22:31:06.000Z

I transform the rotation matrix to quaternion and use the InitFromVec method