def pose(self, zthr = 0.01, fail = True):
        """
        Convert to Pose
        """
        if abs(1 - self.matrix[2][2]) < zthr:
            theta = math.atan2(self.matrix[1][0], self.matrix[0][0])
            return Pose(self.matrix[0][3], self.matrix[1][3], self.matrix[2][3], theta)
        elif fail:
            print self.matrix
            raise Exception, "Not a valid 2.5D Pose"
        else:
            return None
dataset/ETHPy150Open rll/lfd/lfd/rapprentice/util.py/Transform.pose/original