code: def rotation_matrix_to_axis_angle(rotation_matrix: Tensor) -> Tensor:
      r"""Convert 3x3 rotation matrix to Rodrigues vector in radians.
  
      Args:
          rotation_matrix: rotation matrix of shape :math:`(N, 3, 3)`.
  
      Returns:
          Rodrigues vector transformation of shape :math:`(N, 3)`.
  
      Example:
          >>> input = tensor([[1., 0., 0.],
          ...                       [0., 1., 0.],
          ...                       [0., 0., 1.]])
          >>> rotation_matrix_to_axis_angle(input)
          tensor([0., 0., 0.])
  
          >>> input = tensor([[1., 0., 0.],
          ...                       [0., 0., -1.],
          ...                       [0., 1., 0.]])
          >>> rotation_matrix_to_axis_angle(input)
          tensor([1.5708, 0.0000, 0.0000])
      """
      if not isinstance(rotation_matrix, Tensor):
          raise TypeError(
              f"Input type is not a Tensor. Got {type(rotation_matrix)}"
          )
  
      if not rotation_matrix.shape[-2:] == (3, 3):
          raise ValueError(
              f"Input size must be a (*, 3, 3) tensor. Got {rotation_matrix.shape}"
          )
      quaternion: Tensor = rotation_matrix_to_quaternion(
          rotation_matrix
      )
      return quaternion_to_axis_angle(quaternion)
  
imports: from __future__ import annotations
  from typing import Optional
  import torch
  import torch.nn.functional
  from kornia.constants import pi
  from kornia.core import Tensor, concatenate, cos, pad, sin, stack, tensor, where, zeros_like
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_SHAPE
  from kornia.utils import deprecated
  from kornia.utils.helpers import _torch_inverse_cast
label_desc: Use image node_id 12 for calling a global function with example usage: rotation_matrix_to_axis_angle(rotation_matrix) and returns: quaternion_to_axis_angle