DA3GeometryToPointCloud - ComfyUI Built-in Node Documentation

Convert a depth map from a DA3_GEOMETRY object into a 3D point cloud. It applies filtering based on confidence and sky masks, and transforms the points into a common world coordinate system suitable for multi-view scenes.

Inputs

Parameter	Description	Data Type	Required	Range
`da3_geometry`	The DA3_GEOMETRY object containing depth data and optional image, confidence, and sky maps	DA3_GEOMETRY	Yes	-
`batch_index`	Which image of a batch to convert (default: 0)	INT	Yes	0 to 4096
`confidence_threshold`	Exclude pixels whose per-image normalised confidence is below this value (0 = keep all). Used when the geometry has a confidence map (Small/Base models). (default: 0.1)	FLOAT	Yes	0.0 to 1.0
`use_sky_mask`	Exclude sky-probability pixels (sky >= 0.5). Used when the geometry has a sky map (Mono/Metric models). (default: True)	BOOLEAN	Yes	True or False
`downsample`	Take every Nth pixel (1 = full resolution). Higher values give fewer points and faster processing. (default: 1)	INT	Yes	1 to 16

Notes:

batch_index must be smaller than the batch size of the input geometry; otherwise the node raises an error.
If filtering removes all pixels, the node raises an error. Lowering confidence_threshold or disabling use_sky_mask can prevent this.
confidence_threshold is only applied when the geometry includes a confidence map (Small/Base models).
use_sky_mask is only applied when the geometry includes a sky map (Mono/Metric models).
When downsample is greater than 1, the camera intrinsics are scaled accordingly so the projected points remain correct.

Outputs

Output Name	Description	Data Type
`point_cloud`	A point cloud containing filtered 3D points, optional colors, and optional confidence values	DA3_POINT_CLOUD

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Inputs

Outputs