code: def _se3_V_matrix(
      log_rotation: torch.Tensor,
      log_rotation_hat: torch.Tensor,
      log_rotation_hat_square: torch.Tensor,
      rotation_angles: torch.Tensor,
      eps: float = 1e-4,
  ) -> torch.Tensor:
      """
      A helper function that computes the "V" matrix from [1], Sec 9.4.2.
      [1] https://jinyongjeong.github.io/Download/SE3/jlblanco2010geometry3d_techrep.pdf
      """
  
      V = (
          torch.eye(
              3, dtype=log_rotation.dtype, device=log_rotation.device
          )[None]
          + log_rotation_hat
          # pyre-fixme[58]: `**` is not supported for operand types `Tensor` and `int`.
          * ((1 - torch.cos(rotation_angles)) / (rotation_angles**2))[
              :, None, None
          ]
          + (
              log_rotation_hat_square
              # pyre-fixme[58]: `**` is not supported for operand types `Tensor` and
              #  `int`.
              * (
                  (rotation_angles - torch.sin(rotation_angles))
                  / (rotation_angles**3)
              )[:, None, None]
          )
      )
  
      return V
  
imports: import torch
  from .so3 import _so3_exp_map, hat, so3_log_map
label_desc: Use image node_id 3 for calling a global function with example usage: _se3_V_matrix(log_rotation, log_rotation_hat, log_rotation_hat_square, rotation_angles, eps) and returns: V