How to map the skeleton xyz value in mm to RGB xz pixel value?

[kevinchan04]

In Dataset CAD-60, it offers the joint position (x,y,z) and the unit is mm. Could I convert it to RGB image coordinate likes (x, y) and the unit is pixel?

[remmel]

You need to project the x,y,z coordinate on the u,v screen space using the camera intrinsics (mainly focal) fx,fy,cx,cy