Applies geometric constraints to an estimated trifocal tensor.
Improves the estimated camera projection matrices for three views, with the first view assumed to be P1 = [I|0].
Initially computes the trifocal tensor using the linear method
then iteratively refines the solution to minimize algebraic error by adjusting the two epipoles.
Extracts the epipoles, camera matrices, and fundamental matrices for views 2 and 3 with respect
to view 1 from the trifocal tensor.
using a linear algorithm from 7 or more image points correspondences
from three views, see page 394 of  for details.
Given a trifocal tensor and a feature observed in two of the views, predict where it will
appear in the third view.