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3D location of detected keypoints

Hi all,

I want to know if it's possible to get the location of the keypoints detected by any featuredetector. To be explicit enough, i want to know the position in 3D (the reference should be the camera viewpoint) of the detected keypoints. If it's possible, i would appreciate if someone can give me some hints regarding this. I tried to search about but i haven't found any clues.

Thanks in advance, Andrei