code: def test_from_fundamental(self, device, dtype):
      scene = utils.generate_two_view_random_scene(device, dtype)
  
      F_mat = scene["F"]
  
      K1 = scene["K1"]
      K2 = scene["K2"]
  
      E_mat = epi.essential_from_fundamental(F_mat, K1, K2)
      F_hat = epi.fundamental_from_essential(E_mat, K1, K2)
  
      F_mat_norm = epi.normalize_transformation(F_mat)
      F_hat_norm = epi.normalize_transformation(F_hat)
      assert_close(F_mat_norm, F_hat_norm)
  
imports: import pytest
  import test_common
  import torch
  from torch.autograd import gradcheck
  import kornia
  import kornia.geometry.epipolar
  from kornia.testing import assert_close
label_desc: Use image node_id 5 for calling the TestEssentialFromFundamental obj's underlying member method code with example usage: obj.test_from_fundamental(device, dtype) without return types