Can I find depth from image in Hololens?

Given that I have a pic from Hololens, we know that we can find the ray of the photons which caused a specific pixel in the pic.( .
Since, we know the ray direction, its origin, can we now raycast and find the intersection of the ray with Surface mesh and hence find the 3D points related to the pixel on the image? I am using DirectX for doing this and any solution in DirectX will be great

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