### 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= ~~10000.0~~10000.0 }

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!