I have rotating camera images and I'm trying this example of a MATLAB computer vision toolbox (https://www.mathworks.com/matlabcentral/fileexchange/67383-stereo-triangulation) I have the calibration and rotation matrix for each image, however I always find 3d points equal to (0,0,0). It is noted that the translation is null which makes the fourth column null.
Reconstruction 3d for a rotation camera
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You cannot reconstruct a 3D point from a rotating camera.
I suggest you try and draw an example. The idea of triangulation is to compute the intersection of two backprojection rays. These rays pass through the camera center and the point to be reconstructed. In your drawing, you'll find that the intersection becomes more and more accurate the larger the so-called stereo baseline is (that's the translation from one camera center to the other).
Now, for a rotating camera, the camera center remains the same and therefore, the two rays are identical. An intersection is not defined.