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Someone knows how to discover the pointcloud "pixel"(x,y,z in real world) giving a pixel from RGB camera?

I am using a feature descriptor (ORB) in RGB frame (/camera/rgb/image_color) its returns the x,y from the plannar image, I want a relation of this RGB pixel (feature) to get the real world coordinate in pointcloud topic (/camera/depth_registered/points).

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