Triangulate points using Hartley & Zisserman (iterative) method [closed]

edit

I stuck with triangulation in my project, i'm trying to get real-world xyz coordinates from calibrated stereo-pair. Native triangulatePoints by opencv works, but there many inaccurate coordinates. Now im tryin` to implement this one: CLICK so, when i use this method i get so accurate z-coordinate(depth), but also x and y coordinates looks static ( when z in range 20-150, x and y always near to -10). What i missed? Where am i wrong? Any suggestion and/or advice are welcome.