code: 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);
  	}
docs: <p>
  Trifocal tensor with point-line-line correspondence:<br>
  (l2<sup>T</sup>*(sum p1<sup>i</sup>*T<sub>i</sub>)*l3 = 0
  </p>
  
  @param tensor Trifocal tensor
  @param p1 A point in the first view.
  @param l2 A line in the second view.
  @param l3 A line in the third view.
  @return Result of applying the constraint.  With perfect inputs will be zero.