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3-D locations of undistorted matching points in stereo images

returns the 3-D locations of matching pairs of undistorted image points from two
stereo images.`worldPoints`

= triangulate(`matchedPoints1`

,`matchedPoints2`

,`stereoParams`

)

returns
the 3-D locations of the matching pairs in a world coordinate system.
These locations are defined by camera projection matrices. `worldPoints`

= triangulate(`matchedPoints1`

,`matchedPoints2`

,`cameraMatrix1`

,`cameraMatrix2`

)

`[`

additionally returns reprojection errors for the world points using any of the input
arguments from previous syntaxes.`worldPoints`

,`reprojectionErrors`

]
= triangulate(___)

`[`

additionally returns the indices of valid and invalid world points. Valid points
are located in front of the cameras.`worldPoints`

,`reprojectionErrors`

,`validIndex`

]
= triangulate(___)

The `triangulate`

function does not account
for lens distortion. You can undistort the images using the `undistortImage`

function before detecting
the points. Alternatively, you can undistort the points themselves
using the `undistortPoints`

function.

[1] Hartley, R. and A. Zisserman. "Multiple View Geometry
in Computer Vision." *Cambridge University Press*,
p. 312, 2003.

`cameraMatrix`

|`estimateCameraParameters`

|`reconstructScene`

|`relativeCameraPose`

|`triangulateMultiview`

|`undistortImage`

|`undistortPoints`