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Direct conversion of pixels to millimeters?

Hello,

I found a point, I have its coordinates in pixels.

I would like to somehow convert these pixels into millimeters. I have internal and external camera data. I have X and Y in pixels, which I am looking for.

Can I directly translate pixels to millimeters and read in millimeters the data, does the lens get distorted? Will I be able to read the point like that? Does anyone know how different I can do it?