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Position of a colour in image

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I am trying to find the (x,y) co-ordinates of the colours in this images ![C:\fakepath\left-047.png](/upfiles/14807764095369973.png) ![C:\fakepath\right-047.png](/upfiles/1480776595315279.png) They represent images from left and right cameras, how do I find the coordinates of those colours in these images and use them to find the depth given that I know the focal length, number of frames and the distance between the cameras?

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