How do you triangulate a 3D point from a pair of stereo images?

Question

I'm working with a stereo pair of photos, and trying to obtain a set of 3D points from matching points on these 2 images. How exactly is the 3D point triangulated? Do you throw a ray from the camera pinhole centerpoint? Or do you throw a ray perpendicular to the photos?

Answer 1

You should throw the ray from the camera center point.

Using parallel rays would only be appropriate if the original images were created with an orthographic projection.