real world x,y,z coordinates from RGB pixels

[SKila1]

I have a D435 and I need to identify the vertices of a square block (my project runs in a ROS environment).

My goal is to find the real world (x,y,z) coordinates from the pixel coordinates of the vertices of the square produced by the OpenCV2 approxPolyDP.

I am wondering if there is a RealSense / OpenCV API which when given pixel coordinates from RGB frame would give me the real world x,y,z pixels of the corners of the square block.

Thanks

[DDD]

Hi, I am kind of looking for the same application.

Here is what I just found.

https://github.com/IntelRealSense/librealsense/wiki/Projection-in-RealSense-SDK-2.0# point-coordinates Projection in RealSense SDK 2.0 · IntelRealSense/librealsense Wiki · GitHub

The rs_deproject function will probably be the solution with a little modification. I will try it in python