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finding 3D coordinates

hello all, i am rather new to opencv, but doing quite ok in python ... - now i'm faced to determining 3d coordinates of an object inside a defined coordinate system.

C:\fakepath\opencvquestion.png

my main question is: do i need 3 cameras to do that (please see image attachment) or could i work with a depth aware camera like the kinect.

other than that, could anyone maybe point me to some tutorial, resource, etc .... with a similar task.

thanks in advance!