generate 3d image from disparity map

edit

Hi, Iam trying to generate 3d image from two available images (left and right) and I have generated disparity map for the same. Now I want to get 3D image from disparity map. I don't have camera with me. Camera intrinsic and extrinsic parameters are not known to me and also don't know Q. Can you please tell me how to generate 3D image.