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Intel Realsense D415 を用いた3次元距離測定について

IntelのRealsense D415をpythonで動かすライブラリpyrealsense2で3次元距離測定を行いたいです。現時点で、z方向(奥行き)はdepth_scaleから求めることができているのですが3次元座標上においての横方向と縦方向の距離を求める方法がわかりません。
color_intrinsicsでカラー画像の内部パラメータを求め、ここからどのようにすればいいか教えていだだけると嬉しいです。

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以下のような感じでしょうか

    intr = profile.get_stream(rs.stream.color).as_video_stream_profile().get_intrinsics()
    print(intr.width, intr.height, intr.fx, intr.fy, intr.ppx, intr.ppy)
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