def test_reproject_disparity_to_3D_real(batch_size, device, dtype):
        """Test reprojecting of disparity to 3D for known outcome."""
        disparity_tensor = _RealTestData._get_real_disparity(batch_size, device, dtype)
        xyz_gt = _RealTestData._get_real_point_cloud(batch_size, device, 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_close(xyz, xyz_gt)
Test reprojecting of disparity to 3D for known outcome.
tests/geometry/camera/test_stereo.py