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Relative Coordinates

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?
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:

xyz_abs = [x,y,z]
pose_cam_abs = cameraRef.PoseAbs()
xyz_rel = inv(pose_cam_abs) * xyz_abs

A similar question was asked here:
Muchas gracias!

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