I need help.. I have about 30 seconds of helicopter footage of a building site. I have managed to write a program that will track points in the video as x and y screen coords but need to convert this to x,y,z and locate the camera at each frame. I tried to triangulate by using the focal length (27.5mm) but get huge errors for each frame. Is there a way to remove the error and get an approximation of the cameras position and a x,y,z position of the tracked points. Any help at all would be greatly appreciated as I have exhausted all avenues. I know I must be missing something in my triangulation. It works fine for just two frames but adding more just does not work.