# triangulate

3-D locations of undistorted matching points in stereo images

## Syntax

## Description

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`

,`camProjection1`

,`camProjection2`

)

`[`

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(___)

## Examples

## Input Arguments

## Output Arguments

## Tips

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.

## References

[1] Hartley, Richard, and Andrew Zisserman. *Multiple View Geometry
in Computer Vision*. 2nd ed., 312-313. Cambridge, UK ; New York: Cambridge
University Press, 2003.

## Extended Capabilities

## Version History

**Introduced in R2014b**

## See Also

### Apps

### Functions

`triangulateMultiview`

|`reconstructScene`

|`estimateCameraParameters`

|`cameraProjection`

|`undistortImage`

|`undistortPoints`

|`estrelpose`