Finding intersection point of lines in 3D space (two or more lines).
Will return point with the minimum sum of squared distances from point to lines (LSM-method, using pseudoinverse).

% PA : Nx3-matrix containing starting point of N lines
% PB : Nx3-matrix containing end point of N lines
% P_Intersect : Best intersection point of the N lines, in least squares sense.
% distances : Distances from intersection point to the input lines
% Anders Eikenes, 2012