code: public boolean checkConstraint( Point2D_F64 viewA , Point2D_F64 viewB , Se3_F64 fromAtoB ) {
  
  		triangulate.triangulate(viewA,viewB,fromAtoB,P);
  
  		if( P.z > 0 ) {
  			SePointOps_F64.transform(fromAtoB,P,P);
  			return P.z > 0;
  		}
  		return false;
  	}
docs: Checks to see if a single point meets the constraint.
  
  @param viewA View of the 3D point from the first camera.  Calibrated coordinates.
  @param viewB View of the 3D point from the second camera.  Calibrated coordinates.
  @param fromAtoB Transform from the B to A camera frame.
  @return If the triangulated point appears in front of both cameras.