class_docstr: Test class for :class:`~kornia.geometry.camera.stereo.StereoCamera`
class_docstr_tok: ["Test","class","for",":","class",":","`","~kornia.geometry.camera.stereo.StereoCamera","`"]
docstr: Test reprojecting of disparity to 3D for smoke data.
docstr_tok: ["Test","reprojecting","of","disparity","to","3D","for","smoke","data","."]
code: def test_reproject_disparity_to_3D_smoke(
      self, batch_size, device, dtype
  ):
      """Test reprojecting of disparity to 3D for smoke data."""
      tx_fx = -10
      (
          left_rectified_camera,
          right_rectified_camera,
      ) = _SmokeTestData._create_stereo_camera(
          batch_size, device, dtype, tx_fx
      )
      disparity_tensor = self._create_disparity_tensor(
          batch_size,
          _TestParams.height,
          _TestParams.width,
          max_disparity=2,
          device=device,
          dtype=dtype,
      )
      stereo_camera = StereoCamera(
          left_rectified_camera, right_rectified_camera
      )
      xyz = stereo_camera.reproject_disparity_to_3D(disparity_tensor)
  
      assert xyz.shape == (
          batch_size,
          _TestParams.height,
          _TestParams.width,
          3,
      )
      assert xyz.dtype in (torch.float16, torch.float32, torch.float64)
      assert xyz.device == device
  
imports: import pytest
  import torch
  from kornia.geometry.camera import StereoCamera
  from kornia.testing import assert_close
label_desc: Use image node_id 4 for calling the TestStereoCamera obj's underlying member method code with example usage: obj.test_reproject_disparity_to_3D_smoke(batch_size, device, dtype) without return types