Using homography and intensity constraints, it is easy to match 
corresponding lines in two adjacent images. Using 
the camera matrices got from section 2.3, we can get 
the reconstructed 3D lines from the matched 
corresponding lines. The extracted 2D lines and the 
reconstructed 3D lines compared with the 
reconstructed 3D points are shown in Figure.8 
corresponding poirftS r StM c differential evolution.