title: How to triangulate a point in 3D space, given coordinate points in 2 image and extrinsic values of the camera
body: <p>I'm trying to write a function that when given two cameras, their rotation, translation matrices, focal point, and the coordinates of a point for each camera, will be able to triangulate the point into 3D space. Basically, given all the extrinsic/intrinsic values needed</p>
  
  <p>I'm familiar with the general idea: to somehow create two rays and find the closest point that satisfies the least squares problem, however, I don't know exactly how to translate the given information to a series of equations to the coordinate point in 3D.</p>