I know that there is 3d drawing in QGIS. However, I want to learn that how it converts 2d map to 3d.

Is there a way to get height value of points or does it convert longtitude, latitude to xyz format?

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If you have a elevation surface as a raster, and some point data you can use the Point Sampling Tool (install as a Plugin). The Point Sampling Plugin tool will create a new point dataset with a new column populated with the pixel value of the raster. Best to have the vector and raster data share a coordinate reference system to avoid errors in the tool. Here is a tutorial.

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