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Use following formulas with correct directions.

 (u,v) is the point coordinates in pixels,

  P(x, y, z)---->>>  x = depth
                     y = −(v − 480/2) ∗ depth/focal_length
                     z = (u − 640/2) ∗ depth/focal_length


x : depth, positive forward
y : height, positive upwards
z : width, positive to the right

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