3d points from stereo 2d point arrays.

I have two arrays of points, coming from a stereo camera setup.
I need a formula to create the 3d(xyz) point coordinates from these 2 sets of 2d points.

For example, my test case is 5 points, whose xy coordinates are:
681 432 479  419 550 320 682 274 495 254
800 466 587 451 657 352 791 311 592 283

I have the camera intrinsics and extrinsics. I have tried using cv::triangulatePoints, but it is giving strange results.

Is there a better way?

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chemicalx001Author Commented:

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