Disparity Map vs. Triangulating Points

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Hello,

For my project I am only concerned about measuring 20 key points** in an image. From these 20 points I need their 3D location relative to my camera origin to make measurements. For this situation does it make more sense to simply capture these 20 points and then pass them to TriangulatePoints? I have tried obtaining a disparity map of my test space, however, I'm thinking for my problem that it makes more sense to just use TriangulatePoints. Is there a benefit to using disparity maps vs. triangulating the points?

** The images that I will be capturing are from 4 cameras pointing at a person walking. The key points are joint positions in each of the camera frames.