def _compute_rotation_matrix_taylor(angle_axis):
    (rx, ry, rz) = torch.chunk(angle_axis, 3, dim=1)
    k_one = torch.ones_like(rx)
    rotation_matrix = torch.cat([k_one, (- rz), ry, rz, k_one, (- rx), (- ry), rx, k_one], dim=1)
    return rotation_matrix.view((- 1), 3, 3)
def _compute_rotation_matrix_taylor(angle_axis):
    (rx, ry, rz) = torch.chunk(angle_axis, 3, dim=1)
    k_one = torch.ones_like(rx)
    rotation_matrix = torch.cat([k_one, (- rz), ry, rz, k_one, (- rx), (- ry), rx, k_one], dim=1)
    return rotation_matrix.view((- 1), 3, 3)