Determination of monocular and binocular 3D coordinates

1、 3D coordinate calculation

// Left camera intrinsic parameter matrix 
float leftIntrinsic[3][3] = { 1474.84107104330, -0.00321871344116866, 654.395068297042,
0, 1474.82163568531, 491.277561988847,
0, 0, 1 };

// Distortion coefficient of left camera 
float leftDistortion[1][5] = { -0.135390683382819, 0.133022010409548, 0.000407393933022971,0.000191027564674195, 0 };
// Left camera rotation matrix 
float leftRotation[3][3] = { 1, 0, 0,
0, 1, 0,
0, 0, 1 };
// Left camera translation vector 
float leftTranslation[1][3] = { 0, 0, 0 };

// Right camera intrinsic parameter matrix 
float rightIntrinsic[3][3] = { 1474.84107104330, -0.00321871344116866, 654.395068297042,
0, 1474.82163568531, 491.277561988847,
0, 0, 1 };
// Distortion coefficient of right camera 
float rightDistortion[1][5] = { -0.135390683382819, 0.133022010409548, 0.000407393933022971,0.000191027564674195, 0 };
// Right camera rotation matrix 
float rightRotation[3][3] = {  0.9989, -0.0416, -0.0230,
0.0407, 0.9984, -0.0383,
0.0245, 0.0373, 0.9990};
// Right camera translation vector 
float rightTranslation[1][3] = { -77.4641, -5.3798, 16.4835};

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// Description: