title: How do you triangulate a 3D point from a pair of stereo images?
body: <p>I'm working with a stereo pair of photos, and trying to obtain a set of 3D points from matching points on these 2 images. How exactly is the 3D point triangulated? Do you throw a ray from the camera pinhole centerpoint? Or do you throw a ray perpendicular to the photos?</p>
  
  <p><img src="https://i.stack.imgur.com/c8nhY.png" alt="enter image description here"></p>