code: def matrix_to_axis_angle(matrix: torch.Tensor) -> torch.Tensor:
      """
      Convert rotations given as rotation matrices to axis/angle.
  
      Args:
          matrix: Rotation matrices as tensor of shape (..., 3, 3).
  
      Returns:
          Rotations given as a vector in axis angle form, as a tensor
              of shape (..., 3), where the magnitude is the angle
              turned anticlockwise in radians around the vector's
              direction.
      """
      return quaternion_to_axis_angle(matrix_to_quaternion(matrix))
  
imports: from typing import Optional
  import torch
  import torch.nn.functional
  from ..common.datatypes import Device
label_desc: Use image node_id 19 for calling a global function with example usage: matrix_to_axis_angle(matrix) and returns: quaternion_to_axis_angle