> ## 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

> Convert a depth map from a DA3GEOMETRY object into a 3D point cloud.

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 |

> 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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