Function triangulate_points 

pub fn triangulate_points(
    pts_a: &[(f32, f32)],
    pts_b: &[(f32, f32)],
    baseline: f32,
    focal: f32,
) -> Vec<(f32, f32, f32)>

Triangulate 3D points from two camera views. Triangulate 3-D points from corresponding 2-D observations in a rectified stereo pair.

Uses the disparity d = pts_a.x - pts_b.x together with the known baseline (distance between cameras) and shared focal length to recover depth:

Z = baseline * focal / disparity
X = (u - cx) * Z / focal   (cx assumed 0 here)
Y = (v - cy) * Z / focal   (cy assumed 0 here)

Points with zero or negative disparity are placed at the origin (0, 0, 0).