# Revision history [back]

### StereoSGBM algorithm

Hello,

the result of 3d reprojection using StereoSGBM algorithm is the X,Y,Z coordinates of each pixel in the depth image.

public void Computer3DPointsFromStereoPair(Image<gray, byte=""> left, Image<gray, byte=""> right, out Image<gray, short=""> disparityMap, out MCvPoint3D32f[] points) { points = PointCollection.ReprojectImageTo3D(disparityMap, Q); }

let's take the first element of this result (points[0]) which has: X= 414.580017 Y= -85.03029 Z= 10000.0

I'm confused here!! where I can find this pixel in the image ? and why it is not like this X=0,Y=0,Z=10000.0!

### StereoSGBM algorithm

Hello,

the result of 3d reprojection using StereoSGBM algorithm is the X,Y,Z coordinates of each pixel in the depth image.

public void Computer3DPointsFromStereoPair(Image<gray, byte=""> Computer3DPointsFromStereoPair(Image<Gray, Byte> left, Image<gray, byte=""> Image<Gray, Byte> right, out Image<gray, short=""> Image<Gray, short> disparityMap, out MCvPoint3D32f[] points)
{
points = PointCollection.ReprojectImageTo3D(disparityMap, Q);
}}


let's take the first element of this result (points[0]) which has: X= 414.580017 Y= -85.03029 Z= 10000.0

I'm confused here!! where I can find this pixel in the image ? and why it is not like this X=0,Y=0,Z=10000.0!

### StereoSGBM algorithm

Hello,

the result of 3d reprojection using StereoSGBM algorithm is the X,Y,Z coordinates of each pixel in the depth image.

public void Computer3DPointsFromStereoPair(Image<Gray, Byte> left, Image<Gray, Byte> right, out Image<Gray, short> disparityMap, out MCvPoint3D32f[] points)

{
points = PointCollection.ReprojectImageTo3D(disparityMap, Q);
}


So we have collection of 640*480 points in the depth image

let's take the first element of this result (points[0]) which has: X= 414.580017 Y= -85.03029 Z= 10000.0

I'm confused here!! where I can find to which pixel this pixel in the image point refer to ? and why it is not like this X=0,Y=0,Z=10000.0!

### StereoSGBM algorithm

Hello,

the result of 3d reprojection using StereoSGBM algorithm is the X,Y,Z coordinates of each pixel in the depth image.

public void Computer3DPointsFromStereoPair(Image<Gray, Byte> left, Image<Gray, Byte> right, out Image<Gray, short> disparityMap, out MCvPoint3D32f[] points)

{
points = PointCollection.ReprojectImageTo3D(disparityMap, Q);
}


So we have collection of 640*480 points in the depth image

let's take by taking the first element of this result (points[0]) result: which has:

points[0] = { X= 414.580017 Y= -85.03029 Z= 10000.010000.0 }

I'm confused here!! to which pixel this point refer refers to ? and why it is not like this X=0,Y=0,Z=10000.0!