code: public static double constraint( DMatrixRMaj F , Point2D_F64 p1, Point2D_F64 p2 ) {
  		return GeometryMath_F64.innerProd(p2,F,p1);
  	}
docs: <p>
  Applies the epipolar relationship constraint to an essential or fundamental matrix:<br>
  0 = p2<sup>T</sup>*F*p1<br>
  Input points are in normalized image coordinates for an essential matrix and pixels for
  fundamental.
  </p>
  
  @param F 3x3 essential or fundamental matrix.
  @param p1 Point in view 1.
  @param p2 Point in view 2.
  @return  Constraint value.