def test_reproject_disparity_to_3D_simple(self, batch_size, device, dtype):
        """Test reprojecting of disparity to 3D for real data."""
        height, width = _RealTestData().height, _RealTestData().width
        max_disparity = 80
        disparity_tensor = self._create_disparity_tensor(
            batch_size, height, width, max_disparity=max_disparity, device=device, dtype=dtype
        )
        left_rectified_camera, right_rectified_camera = _RealTestData._get_real_stereo_camera(batch_size, device, dtype)
        stereo_camera = StereoCamera(left_rectified_camera, right_rectified_camera)

        xyz = stereo_camera.reproject_disparity_to_3D(disparity_tensor)

        assert xyz.shape == (batch_size, height, width, 3)
        assert xyz.dtype in (torch.float16, torch.float32, torch.float64)
        assert xyz.dtype == dtype
Test reprojecting of disparity to 3D for real data.
tests/geometry/camera/test_stereo.py