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Using a monocular camera in the general case this is not possible. The problem is that a 2D point on a camera image does not define a point in 3D space relative to the camera.

You can solve this problem in two ways; restrict the problem or get a 3D camera system.

You could restrict the problem to points on a horizontal surface, then if the pose of the camera relative to this surface was known then point in 3D space could be determined.

You could use either a stereo camera or RGB-D camera instead which would provide you with depth information. This additional information means that a point on an image then does define a point in 3D space.

I hope this helps to get you started.