How to correctly use cv::triangulatePoints()

Question

I am trying to triangulate some points with OpenCV and I found this cv::triangulatePoints() function. The problem is that there is almost no documentation or ex

Answer 1

A small addition to @Ander Biguri's answer. You should get your image points on a non-undistorted image, and invoke undistortPoints() on the cam0pnts and cam1pnts, because cv::triangulatePoints expects the 2D points in normalized coordinates (independent from the camera) and cam0 and cam1 should be only [R|t^T] matricies you do not need to multiple it with A.