how can I get the real world coordinates of the image

how can I get the real world coordinates of the image

How can I get the real world 3D coordinates of the image? Right now I can get the depth data but I don't know how I can get the real world coordinates? which SDK can be used to realize this function?

Thanks

 

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This link doesn't answer my question. it just said something about real world coordinate rather than give some method to achieve this. I need to know the coordinate of the object relative to camera through the depth data. I am not sure the current SDK can do this.

You can get your answer in this example: C:\Program Files (x86)\Intel\PCSDK\sample\raw_streams

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