c++ - 3D reconstruction using the projection matrices from the trifocal tensor -

i have computed trifocal tensor , corresponding projection matrices p_0, p_1 , p_2 line correspondences on 3 views, according 'multiple view geometry hartley & zisserman, 2nd edition', chapter 16. computed matrices are:

p_0 =  [1 0 0 0  0 1 0 0  0 0 1 0]  p_1 =  [-0.284955  -0.129918 -0.0276358   0.922516  0.122053   0.560496   0.061383   0.385913  0.00455229 -0.0114709  -0.607497 0.00589735]  p_2 =  [0.21558    -0.10182  0.00499782    0.998876  0.0079606     0.11325   0.0226247    0.047112  0.006613 -0.00260303   -0.130705  0.00512245] 

now want compute 3d (plücker) lines these projection matrices. know intrinsic camera matrix k. don't understand is, how include intrinsic matrix k normalized projection matrices trifocal tensor p_1, p_2 , p_3 in order correct 3d information. more specifically, want follow triangulation procedure described bartoli , sturm (section 4, triangulation).

i appreciate help.

what mean correct 3d information? whole coordinate system computable scale.

which algorithm did use computation? algorithm 16.2 in chapter?

why don't use triangulation algorithm here:

http://www.robots.ox.ac.uk/~vgg/hzbook/code/vgg_multiview/vgg_line3d_from_lp_lin.m http://www.robots.ox.ac.uk/~vgg/hzbook/code/vgg_multiview/vgg_line3d_from_lp_nonlin.m