function Q = reconstruction_3D(w1, w2, t_estimee, R_sol)
    
    d = size(w1, 1);
    Q = zeros(3, d);

    for i=1:d
        A = [ -R_sol * w1(i,:)' , w2(i,:)', -t_estimee ];

        [V, D] = eig(A' * A);
        Z = V(:,1);
        Z = Z / Z(3);
    
        Q(:,i) = 1/2 * (Z(2) * w2(i,:)' + R_sol * Z(1) * w1(i,:)' + t_estimee);
    end

    Q = Q';

end