def adjoint(self) -> Tensor:
        """Return the adjoint matrix of shape :math:`(B, 2, 2)`.

        Example:
            >>> s = So2.identity()
            >>> s.adjoint()
            tensor([[1., -0.],
                    [0., 1.]], grad_fn=<StackBackward0>)

        """
        batch_size = len(self.z) if len(self.z.shape) > 0 else None
        return self.identity(batch_size, self.z.device, self.z.real.dtype).matrix()
Return the adjoint matrix of shape :math:`(B, 2, 2)`.

        Example:
            >>> s = So2.identity()
            >>> s.adjoint()
            tensor([[1., -0.],
                    [0., 1.]], grad_fn=<StackBackward0>)

        
kornia/geometry/liegroup/so2.py