Implementation of triangulation.py

[zhanghua7099]

Hi! Thank you for giving this good tutorial!

Here I found a problem. When I tried the triangulation of the Python version and C++ version, I found that the output was not the same. The Python version will give a negative depth triangulation result.

After I add the camera intrinsic matrix to the function "cv.recoverPose", the triangulation works well.

The code for this line https://github.com/mint-lab/3dv_tutorial/blob/f295338ae4a8c28bf7da0d3f2dea1506be652ef1/examples/triangulation.py#L14C43-L14C43

_, R, t, _ = cv.recoverPose(E, pts0, pts1)

should be:

_, R, t, _ = cv.recoverPose(E, pts0, pts1, K)

Hope this will be helpful.