Can you please explain the formula in function "PinholeStereoCamera::computeWorldPoint"? Thanks (Is there any reference about it)

[zhangweilion]

double z = (r1 - yPrime(0) * r3).dot(t) / (r1 - yPrime(0) * r3).dot(y);

wp[0] = y(0) * z;
wp[1] = y(1) * z;
wp[2] = z;