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

        Args:
            omega: 3x3-matrix representing lie algebra of shape :math:`(B, 3, 3)`.

        Returns:
            vector of shape :math:`(B, 3)`.

        Example:
            >>> v = torch.ones(3)
            >>> omega_hat = Se2.hat(v)
            >>> Se2.vee(omega_hat)
            tensor([1., 1., 1.])

        """
        # TODO change to KORNIA_CHECK_SHAPE once there is multiple shape support
        check_se2_omega_shape(omega)
        upsilon = omega[..., 2, :2]
        theta = So2.vee(omega[..., :2, :2])
        return concatenate((upsilon, theta[..., None]), -1)
Convert elements from lie algebra to vector space.

        Args:
            omega: 3x3-matrix representing lie algebra of shape :math:`(B, 3, 3)`.

        Returns:
            vector of shape :math:`(B, 3)`.

        Example:
            >>> v = torch.ones(3)
            >>> omega_hat = Se2.hat(v)
            >>> Se2.vee(omega_hat)
            tensor([1., 1., 1.])

        
kornia/geometry/liegroup/se2.py