adding a custom triangulation function cause OpenCV sucks!

triangulation.py

@@ -0,0 +1,19 @@
+import cv2
+import numpy as np
+
+#Recreating bunch of points using Triangulation
+#Given the relative poses, calculating the 3d points
+def triangulate(pose1, pose2, pts1, pts2):
+
+  ret = np.zeros((pts1.shape[0], 4))
+  pose1 = np.linalg.inv(pose1)
+  pose2 = np.linalg.inv(pose2)
+  for i, p in enumerate(zip(pts1, pts2)):
+    A = np.zeros((4,4))
+    A[0] = p[0][0] * pose1[2] - pose1[0]
+    A[1] = p[0][1] * pose1[2] - pose1[1]
+    A[2] = p[1][0] * pose2[2] - pose2[0]
+    A[3] = p[1][1] * pose2[2] - pose2[1]
+    _, _, vt = np.linalg.svd(A)
+    ret[i] = vt[3]
+  return ret