how to get Object coordinates ??

Now I had used the camera calibration app to calibrate the camera height, the point for me after I generated the code I want to get (X, Y) coordinates for the object calculated from the camera height is it available to be done by the Matlab, for more illustration the picture from the real project I measured the height from the camera to the object I found its (255,255) I want when I put it in another place to be calculated by Matlab