def vee(omega: Tensor) -> Tensor:
        r"""Convert elements from lie algebra to vector space. Returns vector of shape :math:`(B,3)`.

        .. math::
            omega = \begin{bmatrix} 0 & -c & b \\
            c & 0 & -a \\
            -b & a & 0\end{bmatrix}

        Args:
            omega: 3x3-matrix representing lie algebra.

        Example:
            >>> v = torch.ones((1,3))
            >>> omega = So3.hat(v)
            >>> So3.vee(omega)
            tensor([[1., 1., 1.]])

        """
        # KORNIA_CHECK_SHAPE(omega, ["B", "3", "3"])  # FIXME: resolve shape bugs. @edgarriba
        a, b, c = omega[..., 2, 1], omega[..., 0, 2], omega[..., 1, 0]
        return stack((a, b, c), -1)
Convert elements from lie algebra to vector space. Returns vector of shape :math:`(B,3)`.

        .. math::
            omega = \begin{bmatrix} 0 & -c & b \\
            c & 0 & -a \\
            -b & a & 0\end{bmatrix}

        Args:
            omega: 3x3-matrix representing lie algebra.

        Example:
            >>> v = torch.ones((1,3))
            >>> omega = So3.hat(v)
            >>> So3.vee(omega)
            tensor([[1., 1., 1.]])

        
kornia/geometry/liegroup/so3.py