How to get pointcloud's coordinate by depth?

[Dumeowmeow]

trafficstars

When I render the scene and get the depth map, I can get the depth value of each pixel. How can I use these depth values and the xy coordinates of the pixel to get the point cloud coordinates of the pixel in world coordinates? As far as I know, the getProjectionMatrix function yields NDC coordinates, so I can't directly multiply it by pixel coordinates. What should I do?