Here is my problem : I have got a camera over a scene (the camera is not in a perpendicular way with the plan which is formed by the ArUco), composed of a fixed ArUco which is supposed to be the origin of our world system coordinates. I have a robot represented by an other ArUco. The robot is moving on the scene. I am able to detect both ArUco position according to camera system coordinate (using estimatePoseSingleMarker function in openCV). I have tvecs and rvecs.
My question is how to express the coordinates of the robot in the reference marker system coordinate?
I know I need to do operations between rotation matrices, but I don't know why and how to.
I tried a code that inverses the rotation matrix and multiply it with the vectors of the other ArUco but i don't understand how it works. Thanks by advance if you can help me
