code: def test_shape(self, batch_size, device, dtype):
      B: int = batch_size
      R1 = torch.rand(B, 3, 3, device=device, dtype=dtype)
      t1 = torch.rand(B, 3, 1, device=device, dtype=dtype)
      R2 = torch.rand(
          1, 3, 3, device=device, dtype=dtype
      )  # check broadcasting
      t2 = torch.rand(B, 3, 1, device=device, dtype=dtype)
      E_mat = epi.essential_from_Rt(R1, t1, R2, t2)
      assert E_mat.shape == (B, 3, 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 2 for calling the TestEssentalFromRt obj's underlying member method code with example usage: obj.test_shape(batch_size, device, dtype) without return types