def convert_depth_pixel_to_metric_coordinate(depth, pixel_x, pixel_y, camera_intrinsics):
	"""
	Convert the depth and image point information to metric coordinates

	Parameters:
	-----------
	depth 	 	 	 : double
						   The depth value of the image point
	pixel_x 	  	 	 : double
						   The x value of the image coordinate
	pixel_y 	  	 	 : double
							The y value of the image coordinate
	camera_intrinsics : The intrinsic values of the imager in whose coordinate system the depth_frame is computed

	Return:
	----------
	X : double
		The x value in meters
	Y : double
		The y value in meters
	Z : double
		The z value in meters

	"""
	X = (pixel_x - camera_intrinsics.ppx)/camera_intrinsics.fx *depth
	Y = (pixel_y - camera_intrinsics.ppy)/camera_intrinsics.fy *depth
	return X, Y, depth