code: public void computeHomo3D(double x, double y, Point3D_F64 pointLeft) {
  		// Coordinate in rectified camera frame
  		pointRect.z = baseline*fx;
  		pointRect.x = pointRect.z*(x - cx)/fx;
  		pointRect.y = pointRect.z*(y - cy)/fy;
  
  		// rotate into the original left camera frame
  		GeometryMath_F64.multTran(rectR,pointRect,pointLeft);
  	}
docs: Given a coordinate of a point in the left rectified frame, compute the point's 3D
  coordinate in the camera's reference frame in homogeneous coordinates. To convert the coordinate
  into normal 3D, divide each element by the disparity.
  
  @param x x-coordinate of pixel in rectified left image
  @param y y-coordinate of pixel in rectified left image
  @param pointLeft Storage for 3D coordinate of point in homogeneous coordinates.  w = disparity