Stereo vision - Tilted camera and triangulation landmark

edit

I could use rvecs1 from my left camera calibration?

I just realized that, you're calibrating your cameras separately by using cv::calibrateCamera() function, aren't you?

Yep i could use rvecs and tvecs?

If you're using stereo system, just use cv::stereoCalibrate() to find rotation matrix and translation vector between cameras, which will be used in triangulation.cv::cameraCalibrate() gives you the relationship between the camera and outside world, not the relationship between two cameras

I used the product of R2 and R1.T of each cameraCalibrate for the minimum reprojection error to get the rotation matrix and then :

P1 = np.dot(C1,np.hstack((np.identity(3),np.zeros((3,1)))))

P2 =np.dot(C2,np.hstack(((R_0),T_0)))

for i in range(Coord1.shape[0]) z = cv2.triangulatePoints(P1, P2, Coord1[i,],Coord2[i,]) Is it not correct?

not sure. if correct, you can use rvecs1 from left camera I guess