def rigids_from_tensor4x4(m):
    """Construct Rigids object from an 4x4 array.

    Here the 4x4 is representing the transformation in homogeneous coordinates.

    Args:
    m: Array representing transformations in homogeneous coordinates.
    Returns:
    Rigids object corresponding to transformations m
    """
    return m[..., 0, 0], m[..., 0, 1], m[..., 0, 2], m[..., 1, 0], m[..., 1, 1], m[..., 1, 2], m[..., 2, 0], \
           m[..., 2, 1], m[..., 2, 2], m[..., 0, 3], m[..., 1, 3], m[..., 2, 3]