code: def axis_angle_to_rotation_matrix(axis, angle=None):
      if angle is None:
          angle = np.linalg.norm(axis)
          if np.abs(angle) > np.finfo("float").eps:
              axis = axis / angle
  
      cp_axis = cross_prod_matrix(axis)
      return np.eye(3) + (
          np.sin(angle) * cp_axis
          + (1.0 - np.cos(angle)) * cp_axis.dot(cp_axis)
      )
  
imports: import numpy
label_desc: Use image node_id 2 for calling a global function with example usage: axis_angle_to_rotation_matrix(axis, angle) and returns: unknown