def vee(omega: Tensor) -> Tensor:
        """Convert elements from lie algebra to vector space.

        Args:
            omega: 4x4-matrix representing lie algebra of shape :math:`(B,4,4)`.

        Returns:
            vector of shape :math:`(B,6)`.

        Example:
            >>> v = torch.ones((1, 6))
            >>> omega_hat = Se3.hat(v)
            >>> Se3.vee(omega_hat)
            tensor([[1., 1., 1., 1., 1., 1.]])

        """
        # KORNIA_CHECK_SHAPE(omega, ["B", "4", "4"])  # FIXME: resolve shape bugs. @edgarriba
        head = omega[..., :3, -1]
        tail = So3.vee(omega[..., :3, :3])
        return concatenate((head, tail), -1)
Convert elements from lie algebra to vector space.

        Args:
            omega: 4x4-matrix representing lie algebra of shape :math:`(B,4,4)`.

        Returns:
            vector of shape :math:`(B,6)`.

        Example:
            >>> v = torch.ones((1, 6))
            >>> omega_hat = Se3.hat(v)
            >>> Se3.vee(omega_hat)
            tensor([[1., 1., 1., 1., 1., 1.]])

        
kornia/geometry/liegroup/se3.py