code: private boolean estimateProjectiveScene() {
  		List<AssociatedTriple> inliers = ransac.getMatchSet();
  		TrifocalTensor model = ransac.getModelParameters();
  
  		MultiViewOps.extractCameraMatrices(model,P2,P3);
  
  		// Most of the time this makes little difference, but in some edges cases this enables it to
  		// converge correctly
  		RefineThreeViewProjective refineP23 = FactoryMultiView.threeViewRefine(null);
  		if( !refineP23.process(inliers,P2,P3,P2,P3) ) {
  			if( verbose != null ) {
  				verbose.println("Can't refine P2 and P3!");
  			}
  			return false;
  		}
  		return true;
  	}
docs: Estimate the projective scene from the trifocal tensor