Triangulation

triangulate(p1, p2, P1, P2)

Triangulate point given its two projection coordinates and projection matrices.

Arguments:

• p1: Pixel coordinates of a point in (x, y) format in the first view.
• p2: Pixel coordinates of a point in (x, y) format in the second view.
• P1: 3x4 or 4x4 projection matrix K * P for the first view.
• P2: 3x4 or 4x4 projection matrix K * P for the second view.

Returns:

Triangulated point in (x, y, z, w) format. To get actual coordinates, divide by w.