Converting depth image to point cloud

[YuFengUofR]

Hi,

I encounter some difficulties in converting a depth image to a point cloud. right now, I am able to convert the disparity image to a depth image, but I wonder how to convert the depth image to a point cloud? In current dataset, I can find the camera spec, such as baseline and focal length, but I need to know the pixel size to project the depth image to a 3D space. Can anyone help?

Thanks!

[daidai321]

Hi, convert depth images to point clouds using the camera intrinsic: fx, fy, cx,cy. But the distance between my calculated point cloud and the real world is different, so I want to ask how the disparity image is valued to a real disparity when you converted?