diff --git a/examples/pybullet/examples/getCameraImageTest.py b/examples/pybullet/examples/getCameraImageTest.py
index ceae995661..7b894e3b03 100644
--- a/examples/pybullet/examples/getCameraImageTest.py
+++ b/examples/pybullet/examples/getCameraImageTest.py
@@ -31,6 +31,7 @@
                           projection_matrix,
                           shadow=True,
                           renderer=p.ER_BULLET_HARDWARE_OPENGL)
+# NOTE: the ordering of height and width change based on the conversion
 rgb_opengl = np.reshape(images[2], (height, width, 4)) * 1. / 255.
 depth_buffer_opengl = np.reshape(images[3], [width, height])
 depth_opengl = far * near / (far - (far - near) * depth_buffer_opengl)
diff --git a/examples/pybullet/examples/pointCloudFromCameraImage.py b/examples/pybullet/examples/pointCloudFromCameraImage.py
index a156090f85..23fbe302ff 100644
--- a/examples/pybullet/examples/pointCloudFromCameraImage.py
+++ b/examples/pybullet/examples/pointCloudFromCameraImage.py
@@ -72,8 +72,10 @@ def getRayFromTo(mouseX, mouseY):
 imgH = int(height / 10)
 
 img = p.getCameraImage(imgW, imgH, renderer=p.ER_BULLET_HARDWARE_OPENGL)
-rgbBuffer = img[2]
-depthBuffer = img[3]
+rgbBuffer = np.reshape(img[2], (imgH, imgW, 4))
+# NOTE: this depth buffer's reshaping does not match the [w, h] convention for
+# OpenGL depth buffers.  See getCameraImageTest.py for an OpenGL depth buffer
+depthBuffer = np.reshape(img[3], [imgH, imgW])
 print("rgbBuffer.shape=", rgbBuffer.shape)
 print("depthBuffer.shape=", depthBuffer.shape)