docs: public static double constraint(TrifocalTensor tensor,
  									Point2D_F64 p1, Vector3D_F64 l2, Vector3D_F64 l3)
  	{
  		DMatrixRMaj sum = new DMatrixRMaj(3,3);
  
  		CommonOps_DDRM.add(p1.x,tensor.T1,sum,sum);
  		CommonOps_DDRM.add(p1.y,tensor.T2,sum,sum);
  		CommonOps_DDRM.add(tensor.T3, sum, sum);
  
  		return GeometryMath_F64.innerProd(l2,sum,l3);
  	}