o3d.geometry.get_rotation_matrix_from_axis_angle([0., 0., 0.]) counterintuitive

[JanKovis]

This no-rotation returns a matrix full of nan-s.
I think less surprising and correct approach would be to return identity matrix - we do no-rotation on every axis, it would be somewhat more sensible result than to do the zero-rotation check on application side. Or at least the behavior might be documented.

Implementation utilizes Eigen and angle normalization which fails for null-rotation probably

Eigen::Matrix3d Geometry3D::GetRotationMatrixFromAxisAngle(
const Eigen::Vector3d& rotation) {
const double phi = rotation.norm();
return Eigen::AngleAxisd(phi, rotation / phi).toRotationMatrix();
}

[germanros1987]

In 0.17 I do get the identity matrix.

[JanKovis]

Mine was 0.16, obviously it got fixed in meantime

[saurabheights]

Is your system arm64? Thinking it might be related to another GitHub issue. #6301

[JanKovis]

No, I used X86_64 Windows, if I recall correctly.