matlab - Find pixel coordinates from real world using a Kinect -

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i trying basic level robotics computer vision, , have run problem going real world coordinates pixels in order read kinect's depth map. doing because able draw on hand of non constant depth, located @ given x , y location in millimeters.

the problem i'm having distance of object camera needs known in order convert between real world , pixels. how either find depth @ location, or convert depth map metric coordinates instead of pixels?


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