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Sounds like you want to use the image_geometry package. It contains convenience functionality for working with standard ROS camera models (initialized from a CameraInfo message). Specifically, the PinholeCameraModel::fullProjectionMatrix and PinholeCameraModel::projectPixelTo3dRay methods sound like what you´re looking for. See also the associated tutorial for info on how to initialize things from a CameraInfo in a node.

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