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Hey Lassan,

the last line of the documentation for reprojectImageTo3D states "To reproject a sparse set of points {(x,y,d),...} to 3D space, use perspectiveTransform()" perspectiveTransform takes a 3D Point as src, in your case (x,y,disparity(x,y)) which will then be transformed using the Q matrix obtained with stereoRectify() and the result written into dst.

I haven't tested it myself but something like 1) Push all the points you want to transform into a cv::Mat array 2) cv::perspectiveTransform(your_point_array, output_point_array, Qmat) should do the trick for you.

Hope that helped

Greetings Mathias