> ## Documentation Index
> Fetch the complete documentation index at: https://docs.comfy.org/llms.txt
> Use this file to discover all available pages before exploring further.

# DA3GeometryToPointCloud - ComfyUI Built-in Node Documentation

> Complete documentation for the DA3GeometryToPointCloud node in ComfyUI. Learn its inputs, outputs, parameters and usage.

This node converts 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       |

## Outputs

| Output Name   | Description                                                                                         | Data Type         |
| ------------- | --------------------------------------------------------------------------------------------------- | ----------------- |
| `point_cloud` | A point cloud object containing filtered 3D points, optional colors, and optional confidence values | DA3\_POINT\_CLOUD |

> This documentation was AI-generated. If you find any errors or have suggestions for improvement, please feel free to contribute! [Edit on GitHub](https://github.com/Comfy-Org/embedded-docs/blob/main/comfyui_embedded_docs/docs/DA3GeometryToPointCloud/en.md)

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