How to save [x,y,z] coordinates of a kinect depth image?

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I have a depth image from kinect that was saved using the Image Acquisition Toolbox. Using imtool I can see the x and y coordinates and the depth value of each pixel. I know I can save the pixel information by right clicking and copying pixel info but is there anyway to save the x,y and z values in a matrix automatically? I know I can use ginput to save x and y but how about the z (depth) value?

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