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 ; }
Checks to see if a single point meets the constraint .