class_docstr: Base class to represent the So3 group.
  
  The SO(3) is the group of all rotations about the origin of three-dimensional Euclidean space
  :math:`R^3` under the operation of composition.
  See more: https://en.wikipedia.org/wiki/3D_rotation_group
  
  We internally represent the rotation by a unit quaternion.
  
  Example:
      >>> q = Quaternion.identity()
      >>> s = So3(q)
      >>> s.q
      Parameter containing:
      tensor([1., 0., 0., 0.], requires_grad=True)
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docstr: Create So3 from a rotation matrix.
  
  Args:
      matrix: the rotation matrix to convert of shape :math:`(B,3,3)`.
  
  Example:
      >>> m = torch.eye(3)
      >>> s = So3.from_matrix(m)
      >>> s
      Parameter containing:
      tensor([1., 0., 0., 0.], requires_grad=True)
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code: def from_matrix(cls, matrix: Tensor) -> So3:
      """Create So3 from a rotation matrix.
  
      Args:
          matrix: the rotation matrix to convert of shape :math:`(B,3,3)`.
  
      Example:
          >>> m = torch.eye(3)
          >>> s = So3.from_matrix(m)
          >>> s
          Parameter containing:
          tensor([1., 0., 0., 0.], requires_grad=True)
      """
      return cls(Quaternion.from_matrix(matrix))
  
imports: from __future__ import annotations
  from typing import Optional
  from kornia.core import Device, Dtype, Module, Tensor, concatenate, eye, stack, tensor, where, zeros, zeros_like
  from kornia.core.check import KORNIA_CHECK_TYPE
  from kornia.geometry.conversions import vector_to_skew_symmetric_matrix
  from kornia.geometry.linalg import batched_dot_product
  from kornia.geometry.quaternion import Quaternion
  from kornia.geometry.vector import Vector3
label_desc: Use image node_id 11 for calling the So3 obj's underlying member method code with example usage: obj.from_matrix(cls, matrix) and returns: cls