conversion of pixel coordinates from a vision sensor to real coordinates

im currently using a vision sensor attached to my end effector for detection and position estimation, i have managed to perform the circular detection needed as follows

and the pixel coordinates are also displayed. however, im having troubles convert them to real world coordinates assuming the z axis is known, how can i obtain the other 2D coordinates

Answer 1

[Remo Pillat]

If you know the Z depth of the detected image points, you can use the Computer Vision Toolbox function pcfromdepth to get 3D coordinates of the world points (use the ImagePoints name-value pair; you might have to construct your own simple depth image from the few detected points you have). The 3D coordinates will be relative to the center of the camera.

Note that you need the cameraIntrinsics of the camera you are using. You can use the Camera Calibration tools to get that information.