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I calibrated my mono camera using opencv. Now I know the camera intrinsic matrix and distortion coefs [K1, K2, P1 ,P2,K3 ,K4, K5, K6] of my camera. Assuming that camera is place in [x, y, z] with [Roll, Pitch, Yaw] rotations. how can I get each pixel in world coordinate when the camera is looking on the floor [z=0].

I calibrated my mono camera using opencv. Now I know the camera intrinsic matrix and distortion coefs [K1, K2, P1 ,P2,K3 ,K4, K5, K6] of my camera. Assuming that camera is place in [x, y, z] with [Roll, Pitch, Yaw] rotations. how can I get each pixel in world coordinate when the camera is looking on the floor [z=0].