def create_random_fundamental_matrix(batch_size: int, std_val: float = 1e-3) -> Tensor:
    """Create a batch of random fundamental matrices of shape Bx3x3."""
    F_rect = create_rectified_fundamental_matrix(batch_size)
    H_left = create_random_homography(batch_size, 3, std_val)
    H_right = create_random_homography(batch_size, 3, std_val)
    return H_left.permute(0, 2, 1) @ F_rect @ H_right
Create a batch of random fundamental matrices of shape Bx3x3.
kornia/testing/__init__.py