# \#triangulatepoints **URL:** https://forum.opencv.org/tag/triangulatepoints/15.md [Latest](https://forum.opencv.org/latest.md) · [Categories](https://forum.opencv.org/categories.md) · [Tags](https://forum.opencv.org/tags.md) --- ## [SfM + Wheeld Robot's Odometry: scene resonstruction issues](https://forum.opencv.org/t/sfm-wheeld-robots-odometry-scene-resonstruction-issues/24165)
**Author:** [@eyecaster](https://forum.opencv.org/u/eyecaster)\ **Replies:** 0\ **Last updated:** [October 28, 2025, 7:49pm UTC](https://forum.opencv.org/t/sfm-wheeld-robots-odometry-scene-resonstruction-issues/24165 "2025-10-28T19:49:47Z")
Hello. My goal is to have perform structure from motion via a wheeled robot equipped with a monocular camera. For now, the robot’s simulated in IsaacSim, the image, camera info, as well as odometry are sent through ROS… --- ## [Stereo calibration and triangulation](https://forum.opencv.org/t/stereo-calibration-and-triangulation/9685)
**Author:** [@LB94](https://forum.opencv.org/u/LB94)\ **Replies:** 5\ **Last updated:** [August 2, 2022, 9:16pm UTC](https://forum.opencv.org/t/stereo-calibration-and-triangulation/9685 "2022-08-02T21:16:05Z")
Hi, I’m trying to properly calibrate a stereo camera with a very small baseline (2 millimetres). These are my steps: I calibrated the 2 channels separatelly I use the obtained camera matrixes and distortion coefficie… --- ## [Cant understand triangulatepoints 3d points results](https://forum.opencv.org/t/cant-understand-triangulatepoints-3d-points-results/9502)
**Author:** [@Ali\_El\_habchi](https://forum.opencv.org/u/Ali_El_habchi)\ **Replies:** 0\ **Last updated:** [July 14, 2022, 11:44am UTC](https://forum.opencv.org/t/cant-understand-triangulatepoints-3d-points-results/9502 "2022-07-14T11:44:30Z")
Hi everyone, I’m using opencv triangulatePoints to estimate 3d position of the matched keypoints between two images using the estimated Essential matrix, but when i try to visualise the resulted 3d points after converti… --- ## [Can not get SolvePnP to work to get Monocular Odometry camera trajectory](https://forum.opencv.org/t/can-not-get-solvepnp-to-work-to-get-monocular-odometry-camera-trajectory/5340)
**Author:** [@SmithangshuGhosh](https://forum.opencv.org/u/SmithangshuGhosh)\ **Replies:** 2\ **Last updated:** [January 29, 2022, 9:07pm UTC](https://forum.opencv.org/t/can-not-get-solvepnp-to-work-to-get-monocular-odometry-camera-trajectory/5340 "2022-01-29T21:07:59Z")
Hi, I am trying to develop a Monocular SLAM in simplest form with a single thread. To reach the goal I divided the process into some sub goals as follows a) Monocular VO with 2D-3D correspondence(aka PnP) b) Bundle A… --- ## [Can we use resulting poses of two frames using SolvePnPRansac() to triangulatePoints()?](https://forum.opencv.org/t/can-we-use-resulting-poses-of-two-frames-using-solvepnpransac-to-triangulatepoints/6352)
**Author:** [@SmithangshuGhosh](https://forum.opencv.org/u/SmithangshuGhosh)\ **Replies:** 0\ **Last updated:** [November 22, 2021, 9:36am UTC](https://forum.opencv.org/t/can-we-use-resulting-poses-of-two-frames-using-solvepnpransac-to-triangulatepoints/6352 "2021-11-22T09:36:25Z")
Hi, I can estimate relative poses between two frames using FindEssentialMat() and then RecoverPose(), further I can TriangulatePoints() correctly. And after that I can track camera motion by corresponding 3D-2D points w… --- ## [Issues with rotations when using cv::triangulatePoints](https://forum.opencv.org/t/issues-with-rotations-when-using-cv-triangulatepoints/5375)
**Author:** [@ad\_ryan](https://forum.opencv.org/u/ad_ryan)\ **Replies:** 0\ **Last updated:** [September 27, 2021, 3:37pm UTC](https://forum.opencv.org/t/issues-with-rotations-when-using-cv-triangulatepoints/5375 "2021-09-27T15:37:11Z")
Hi all, in my C++ software project I am using cv::triangulatePoints, in order to estimate the distance from an aerial sensor to objects on the ground in a simulation environment. Thereby, problems occur as soon as the … --- ## [Why isn't triangulate points (for any arbitrary number of views and not just two views) part of the official opencv python bindings?](https://forum.opencv.org/t/why-isnt-triangulate-points-for-any-arbitrary-number-of-views-and-not-just-two-views-part-of-the-official-opencv-python-bindings/2631)
**Author:** [@juan](https://forum.opencv.org/u/juan)\ **Replies:** 6\ **Last updated:** [April 6, 2021, 8:16pm UTC](https://forum.opencv.org/t/why-isnt-triangulate-points-for-any-arbitrary-number-of-views-and-not-just-two-views-part-of-the-official-opencv-python-bindings/2631 "2021-04-06T20:16:39Z")
In the official opencv python bindings (which you get by executing pip install opencv-python), you only get cv2.triangulatePoints which only triangulates a 2d point from two views and not for any arbitrary number of view…