def exp(v: Tensor) -> Se3:
        """Convert elements of lie algebra to elements of lie group.

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

        Example:
            >>> v = torch.zeros((1, 6))
            >>> s = Se3.exp(v)
            >>> s.r
            Parameter containing:
            tensor([[1., 0., 0., 0.]], requires_grad=True)
            >>> s.t
            Parameter containing:
            tensor([[0., 0., 0.]], requires_grad=True)

        """
        # KORNIA_CHECK_SHAPE(v, ["B", "6"])  # FIXME: resolve shape bugs. @edgarriba
        upsilon = v[..., :3]
        omega = v[..., 3:]
        omega_hat = So3.hat(omega)
        omega_hat_sq = omega_hat @ omega_hat
        theta = batched_dot_product(omega, omega).sqrt()
        R = So3.exp(omega)
        V = (
            eye(3, device=v.device, dtype=v.dtype)
            + ((1 - theta.cos()) / (theta**2))[..., None, None] * omega_hat
            + ((theta - theta.sin()) / (theta**3))[..., None, None] * omega_hat_sq
        )
        U = where(theta[..., None] != 0.0, (upsilon[..., None, :] * V).sum(-1), upsilon)
        return Se3(R, U)
Convert elements of lie algebra to elements of lie group.

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

        Example:
            >>> v = torch.zeros((1, 6))
            >>> s = Se3.exp(v)
            >>> s.r
            Parameter containing:
            tensor([[1., 0., 0., 0.]], requires_grad=True)
            >>> s.t
            Parameter containing:
            tensor([[0., 0., 0.]], requires_grad=True)

        
kornia/geometry/liegroup/se3.py