Hey, looking at the mathematics is it correct that if P1 and P2 (projection matrices for camera 1 and 2) are both defined in reference to some world coordinate system, then the output of triangulatepoints will be in that world coordinate system?
In my case I have two cameras, both with known camera intrinsics K1 and K2. I have derived the rotation and translation matrices for each camera such that applying those the camera is transformed to world coordinate frame. I then calculate K1*[R1, T1] for both cameras giving me P1 and P2. Is this correct?