Relative Coordinates Mar Caballer Castells Junior Member Posts: 3 Threads: 2 Joined: May 2020 Reputation: 2 05-08-2020, 04:37 PM Hello! I have the poseAbs of my tool (it's a CAM2D), and I have the x y z obtained with the XYZRoboDKCursor() that are absolute too. How can I do to have x,y,z cordinates respect to the 2DCamera? Find Reply Albert Administrator Posts: 870 Threads: 1 Joined: Apr 2018 Reputation: 41 05-12-2020, 11:04 AM I assume you are using the API? If so, you can calculate the relative coordinates of your point with respect to the camera by multiplying the inverse of your camera pose by the coordinates of your point in absolute coordinates. Example: Code:```xyz_abs = [x,y,z] pose_cam_abs = cameraRef.PoseAbs() xyz_rel = inv(pose_cam_abs) * xyz_abs``` A similar question was asked here: https://robodk.com/forum/Thread-Targetin...34#pid4334 Find Reply Mar Caballer Castells Junior Member Posts: 3 Threads: 2 Joined: May 2020 Reputation: 2 05-12-2020, 12:25 PM Muchas gracias! Find Reply