code: def relative_transformation(
      trans_01: Tensor, trans_02: Tensor
  ) -> Tensor:
      r"""Function that computes the relative homogeneous transformation from a reference transformation.
  
      :math:`T_1^{0} = \begin{bmatrix} R_1 & t_1 \\ \mathbf{0} & 1 \end{bmatrix}` to destination :math:`T_2^{0} =
      \begin{bmatrix} R_2 & t_2 \\ \mathbf{0} & 1 \end{bmatrix}`.
  
      The relative transformation is computed as follows:
  
      .. math::
  
          T_1^{2} = (T_0^{1})^{-1} \cdot T_0^{2}
  
      Args:
          trans_01: reference transformation tensor of shape :math:`(N, 4, 4)` or :math:`(4, 4)`.
          trans_02: destination transformation tensor of shape :math:`(N, 4, 4)` or :math:`(4, 4)`.
  
      Returns:
          the relative transformation between the transformations with shape :math:`(N, 4, 4)` or :math:`(4, 4)`.
  
      Example::
          >>> trans_01 = torch.eye(4)  # 4x4
          >>> trans_02 = torch.eye(4)  # 4x4
          >>> trans_12 = relative_transformation(trans_01, trans_02)  # 4x4
      """
      KORNIA_CHECK_IS_TENSOR(trans_01)
      KORNIA_CHECK_IS_TENSOR(trans_02)
      if not (
          (trans_01.dim() in (2, 3)) and (trans_01.shape[-2:] == (4, 4))
      ):
          raise ValueError(
              f"Input must be a of the shape Nx4x4 or 4x4. Got {trans_01.shape}"
          )
      if not (
          (trans_02.dim() in (2, 3)) and (trans_02.shape[-2:] == (4, 4))
      ):
          raise ValueError(
              f"Input must be a of the shape Nx4x4 or 4x4. Got {trans_02.shape}"
          )
      if not trans_01.dim() == trans_02.dim():
          raise ValueError(
              f"Input number of dims must match. Got {trans_01.dim()} and {trans_02.dim()}"
          )
  
      trans_10 = inverse_transformation(trans_01)
      trans_12 = compose_transformations(trans_10, trans_02)
      return trans_12
  
file_path: kornia/kornia/geometry/linalg.py
imports: from __future__ import annotations
  import torch
  from kornia.core import Tensor, zeros_like
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_IS_TENSOR, KORNIA_CHECK_SHAPE
  from kornia.geometry.conversions import convert_points_from_homogeneous, convert_points_to_homogeneous
label_desc: Use image node_id 3 for calling a global function with example usage: relative_transformation(trans_01, trans_02) and returns: trans_12