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 known outcome.
docstr_tok: ["Test","reprojecting","of","disparity","to","3D","for","known","outcome","."]
code: def test_reproject_disparity_to_3D_real(batch_size, device, dtype):
      """Test reprojecting of disparity to 3D for known outcome."""
      disparity_tensor = _RealTestData._get_real_disparity(
          batch_size, device, dtype
      )
      xyz_gt = _RealTestData._get_real_point_cloud(
          batch_size, device, dtype
      )
  
      (
          left_rectified_camera,
          right_rectified_camera,
      ) = _RealTestData._get_real_stereo_camera(
          batch_size, device, dtype
      )
      stereo_camera = StereoCamera(
          left_rectified_camera, right_rectified_camera
      )
  
      xyz = stereo_camera.reproject_disparity_to_3D(disparity_tensor)
  
      assert_close(xyz, xyz_gt)
  
imports: import pytest
  import torch
  from kornia.geometry.camera import StereoCamera
  from kornia.testing import assert_close
label_desc: Use image node_id 5 for calling the TestStereoCamera obj's underlying member method code with example usage: obj.test_reproject_disparity_to_3D_real(batch_size, device, dtype) without return types