code: def test_synthetic_sampson_7point(self, device, dtype):
      scene: Dict[
          str, torch.Tensor
      ] = utils.generate_two_view_random_scene(device, dtype)
      x1 = scene["x1"][:, :7, :]
      x2 = scene["x2"][:, :7, :]
      F_est = epi.find_fundamental(x1, x2, None, "7POINT")
      for i in range(3):
          F = F_est[0][i].unsqueeze(0)
          if torch.all(F != 0):
              error = epi.sampson_epipolar_distance(x1, x2, F)
              assert_close(
                  error,
                  torch.zeros(
                      (F.shape[0], 7), device=device, dtype=dtype
                  ),
                  atol=1e-4,
                  rtol=1e-4,
              )
  
imports: from typing import Dict
  import pytest
  import test_common
  import torch
  from torch.autograd import gradcheck
  import kornia.geometry.epipolar
  import kornia.testing
  from kornia.testing import assert_close
label_desc: Use image node_id 7 for calling the TestFindFundamental obj's underlying member method code with example usage: obj.test_synthetic_sampson_7point(device, dtype) without return types