code: def test_from_fundamental_Rt(self, device, dtype):
      scene = utils.generate_two_view_random_scene(device, dtype)
  
      E_from_Rt = epi.essential_from_Rt(
          scene["R1"], scene["t1"], scene["R2"], scene["t2"]
      )
  
      E_from_F = epi.essential_from_fundamental(
          scene["F"], scene["K1"], scene["K2"]
      )
  
      E_from_Rt_norm = epi.normalize_transformation(E_from_Rt)
      E_from_F_norm = epi.normalize_transformation(E_from_F)
      # TODO: occasionally failed with error > 0.04
      assert_close(E_from_Rt_norm, E_from_F_norm, rtol=1e-3, atol=1e-3)
  
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 3 for calling the TestEssentalFromRt obj's underlying member method code with example usage: obj.test_from_fundamental_Rt(device, dtype) without return types