A single lens usually is insufficient as a relay option, unless there is a need for massive increase in image magnification. In this case the secondary lens simply magnifies the *real* image projected by the primary lens thus it ends up rotated 180 degrees on the recording camera. An example of this might be upscaling small-format cine optics to match an FX camera. Thus, I do have a set up for a Canon 6.5 mm f/1.8 cine lens ('D' mount made for the tiny double-8 cine format) that projects nicely onto FX, using a 19 mm f/2.8 Macro-Nikkor as a scaling agent.
The relay acts in principle to alter the conjugate distances for the primary lens. Thus it "transports" the image over some additional distance to a (more convenient) location in which the image can be recorded. The relay module may alter scale of the final image, a feature usually desirable when working with fisheye lenses on different format cameras. Using two lenses in tandem (facing each other frontally) facilitates more advanced matching of the primary lens to a given format than available for the single-lens option.