import torch


def create_rectified_fundamental_matrix(batch_size):
    """Creates a batch of rectified fundamental matrices of shape Bx3x3"""
    F_rect = torch.tensor([[0.0, 0.0, 0.0], [0.0, 0.0, -1.0], [0.0, 1.0, 0.0]]).view(1, 3, 3)
    F_repeat = F_rect.repeat(batch_size, 1, 1)
    return F_repeat