def test_reproject_disparity_to_3D_smoke(self, batch_size, device, dtype):
        """Test reprojecting of disparity to 3D for smoke data."""
        tx_fx = -10
        left_rectified_camera, right_rectified_camera = _SmokeTestData._create_stereo_camera(
            batch_size, device, dtype, tx_fx
        )
        disparity_tensor = self._create_disparity_tensor(
            batch_size, _TestParams.height, _TestParams.width, max_disparity=2, device=device, dtype=dtype
        )
        stereo_camera = StereoCamera(left_rectified_camera, right_rectified_camera)
        xyz = stereo_camera.reproject_disparity_to_3D(disparity_tensor)

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