Get Real-World Coordinates (XYZ) from point with known pixel coordinates on 2 images

1

I have a pair of images and some points with known pixel coordinates (x, y) on both images.

Also, for both images, I know:

  • their Real-World Coordinates (XYZ)
  • their rotation (yaw, pitch, roll)

How can I compute the real-world coordinates of the points on the image?

Thank you in advance!

2

https://www.robots.ox.ac.uk/~vgg/hzbook/