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Seems like you got a few reasonable answers, though nobody mentioned it is handy to know a few things about the camera being used... Basically (i think) you need to know how wide of an angle the camera can see, is the (centred) edge of the image at a 45 degree angle from the z-axis/ etc. I'm pretty sure this is equivalent to knowing the focal length [& cmos(/etc) sensor width of the camera?]

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