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I have a single calibrated camera with Known

1. Camera Intrinsics. fx,fy,cx,cy
2. Distortion Co-efficients K1,K2,K3,T1,T2,etc..
3. Camera Rotation & Translation (R,T) from IMU

After Undistortion, I have computed Point correspondence of checkerboard points in all the images with a known camera-to-camera Rotation and Translation vectors.

How can I estimate the 3D points of the checkerboard in all the images?

I think OpenCV has a function to do this but I'm not able to understand how to use this!

1) cv::sfm::triangulatePoints

2) triangulatePoints

How to compute the 3D Points using OpenCV?

I have a single calibrated camera pointing at a checkerboard at different locations with Known

1. Camera Intrinsics. fx,fy,cx,cy
2. Distortion Co-efficients K1,K2,K3,T1,T2,etc..
3. Camera Rotation & Translation (R,T) from IMU

After Undistortion, I have computed Point correspondence of checkerboard points in all the images with a known camera-to-camera Rotation and Translation vectors.

How can I estimate the 3D points of the checkerboard in all the images?

I think OpenCV has a function to do this but I'm not able to understand how to use this!

1) cv::sfm::triangulatePoints

2) triangulatePoints

How to compute the 3D Points using OpenCV?