Conversion from pixel to 3D point in Camera frame

[shrutichakraborty]

Hello, I have a custom dnn that I used to detect objects through visp. I'd like to have the corners of the detectd boxes in the camera frame and so I was wondering if it is possible to have access to the rs2_deproject_pixel_to_point function from realsense in visp?

Furthermore, I would then like to use the computePlanarObjectPoseFromRGBD() using the pixel coordinates, the de projected 3D coordinates and camera parameters to find the plane, to then use this in a visual servo law to position a robot arm perpendicular to the object (as I have something plat and planar). Do you think this would be possible?

Thanks!