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yes it does generate some NaN or INF, due to the perspective-divide

            {   // try to achieve the same as reprojectImageTo3D, without generating NaN's
                uchar d = disp.at<uchar>(r,c);
                cv::Scalar t =  Q * cv::Scalar(c,r,d,1);
                if ( abs(t[3]) < 0.0001 )
                    continue;
                pt.x = t[0] / t[3];
                pt.y = t[1] / t[3];
                pt.z = t[2] / t[3];
                break;
            }

yes it does generate some NaN or INF, due to the perspective-divide

            {   // try to achieve the same as reprojectImageTo3D, without generating NaN's
                uchar d = disp.at<uchar>(r,c);
                cv::Scalar t =  Q * cv::Scalar(c,r,d,1);
                if ( abs(t[3]) < 0.0001 )
                    continue;
                pt.x = t[0] / t[3];
                pt.y = t[1] / t[3];
                pt.z = t[2] / t[3];
                break;
            }

patchNaNs(mat, 0); // available in python, too, unfortunately undocumented