code: def test_synthetic_sampson(self, device, dtype):
      scene: Dict[
          str, torch.Tensor
      ] = utils.generate_two_view_random_scene(device, dtype)
  
      x1 = scene["x1"]
      x2 = scene["x2"]
  
      weights = torch.ones_like(x1)[..., 0]
      F_est = epi.find_fundamental(x1, x2, weights)
  
      error = epi.sampson_epipolar_distance(x1, x2, F_est)
      assert_close(
          error,
          torch.zeros((x1.shape[:2]), 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 9 for calling the TestFindFundamental obj's underlying member method code with example usage: obj.test_synthetic_sampson(device, dtype) without return types