code: def test_exception(self, device, dtype):
      to_check_1 = torch.rand((7, 4, 4, 3), device=device, dtype=dtype)
      to_check_2 = torch.rand((5, 10, 10), device=device, dtype=dtype)
      to_check_3 = torch.rand((6, 4, 4), device=device, dtype=dtype)
      to_check_4 = torch.rand((4, 4), device=device, dtype=dtype)
      to_check_5 = torch.rand((3, 3), device=device, dtype=dtype)
  
      # Testing if exception is thrown when both inputs have shape (3, 3)
      with pytest.raises(ValueError):
          _ = kornia.geometry.relative_transformation(
              to_check_5, to_check_5
          )
  
      # Testing if exception is thrown when both inputs have shape (5, 10, 10)
      with pytest.raises(ValueError):
          _ = kornia.geometry.relative_transformation(
              to_check_2, to_check_2
          )
  
      # Testing if exception is thrown when one input has shape (6, 4, 4)
      # whereas the other input has shape (4, 4)
      with pytest.raises(ValueError):
          _ = kornia.geometry.relative_transformation(
              to_check_3, to_check_4
          )
  
      # Testing if exception is thrown when one input has shape (7, 4, 4, 3)
      # whereas the other input has shape (4, 4)
      with pytest.raises(ValueError):
          _ = kornia.geometry.relative_transformation(
              to_check_1, to_check_4
          )
  
imports: import pytest
  import torch
  from torch.autograd import gradcheck
  import kornia
  import kornia.geometry.linalg
  import kornia.testing
  from kornia.testing import BaseTester, assert_close
label_desc: Use image node_id 2 for calling the TestRelativeTransformation obj's underlying member method code with example usage: obj.test_exception(device, dtype) without return types