OpenCV
3.2.0
Open Source Computer Vision

Functions  
void  cv::sfm::triangulatePoints (InputArrayOfArrays points2d, InputArrayOfArrays projection_matrices, OutputArray points3d) 
Reconstructs bunch of points by triangulation. More...  
void cv::sfm::triangulatePoints  (  InputArrayOfArrays  points2d, 
InputArrayOfArrays  projection_matrices,  
OutputArray  points3d  
) 
Reconstructs bunch of points by triangulation.
points2d  Input vector of vectors of 2d points (the inner vector is per image). Has to be 2 X N. 
projection_matrices  Input vector with 3x4 projections matrices of each image. 
points3d  Output array with computed 3d points. Is 3 x N. 
Triangulates the 3d position of 2d correspondences between several images. Reference: Internally it uses DLT method [66] 12.2 pag.312