How can I convert 2D image coordinates to 3D world coordinates in ros-noetic with C++ and the zed-ros-wrapper. I get the 2D image coordinates （u，v）with deep learning algorithm， how to get 3D world coordinates in ros-noetic ？

Z = depth value of the pixel (u,v) from the depth map

X = (( u - c_x) * Z) / (f_x)

Y = (( v - c_y) * Z) / (f_y)

how can I get the z c_x c_y f_x and f_y in zed-ros-wrapper ？thank you very much！

void depthCallback(const sensor_msgs::Image::ConstPtr& msg)

{

// Get a pointer to the depth values casting the data

// pointer to floating point

float* depths = (float*)(&msg->data[0]);

………………………………………………

Is the distance information obtained in these functions statements the value of Z（Z = depth value of the pixel (u,v) from the depth map）?

it’s exactly what I need.

Thank you my Myzhar.