code: public static Point2D_F64 constraintHomography( DMatrixRMaj H , Point2D_F64 p1 , Point2D_F64 outputP2 ) {
  		if( outputP2 == null )
  			outputP2 = new Point2D_F64();
  
  		GeometryMath_F64.mult(H,p1,outputP2);
  
  		return outputP2;
  	}
docs: <p>
  Applies the homography constraints to two points:<br>
  z*p2 = H*p1<br>
  where z is a scale factor and (p1,p2) are point observations.  Note that since 2D points are inputted
  translation and normalization to homogeneous coordinates with z=1 is automatically handled.
  </p>
  
  @param H Input: 3x3 Homography matrix.
  @param p1 Input: Point in view 1.
  @param outputP2 Output: storage for point in view 2.
  @return Predicted point in view 2