def rotation_matrix_to_axis_angle(rotation_matrix: Tensor) -> Tensor:
    r"""Convert 3x3 rotation matrix to Rodrigues vector in radians.

    Args:
        rotation_matrix: rotation matrix of shape :math:`(N, 3, 3)`.

    Returns:
        Rodrigues vector transformation of shape :math:`(N, 3)`.

    Example:
        >>> input = tensor([[1., 0., 0.],
        ...                       [0., 1., 0.],
        ...                       [0., 0., 1.]])
        >>> rotation_matrix_to_axis_angle(input)
        tensor([0., 0., 0.])

        >>> input = tensor([[1., 0., 0.],
        ...                       [0., 0., -1.],
        ...                       [0., 1., 0.]])
        >>> rotation_matrix_to_axis_angle(input)
        tensor([1.5708, 0.0000, 0.0000])

    """
    if not isinstance(rotation_matrix, Tensor):
        raise TypeError(f"Input type is not a Tensor. Got {type(rotation_matrix)}")

    if not rotation_matrix.shape[-2:] == (3, 3):
        raise ValueError(f"Input size must be a (*, 3, 3) tensor. Got {rotation_matrix.shape}")
    quaternion: Tensor = rotation_matrix_to_quaternion(rotation_matrix)
    return quaternion_to_axis_angle(quaternion)
Convert 3x3 rotation matrix to Rodrigues vector in radians.

    Args:
        rotation_matrix: rotation matrix of shape :math:`(N, 3, 3)`.

    Returns:
        Rodrigues vector transformation of shape :math:`(N, 3)`.

    Example:
        >>> input = tensor([[1., 0., 0.],
        ...                       [0., 1., 0.],
        ...                       [0., 0., 1.]])
        >>> rotation_matrix_to_axis_angle(input)
        tensor([0., 0., 0.])

        >>> input = tensor([[1., 0., 0.],
        ...                       [0., 0., -1.],
        ...                       [0., 1., 0.]])
        >>> rotation_matrix_to_axis_angle(input)
        tensor([1.5708, 0.0000, 0.0000])

    
kornia/geometry/conversions.py