I have an application with a robot world frame and a camera frame. It must be noted that the XY frames of both are parallel so I do not necessarily care about the Z component. The problem I am facing is formulating a function that takes camera XY coordinates and transforms them to the robot XY coordinates.
I have a fiducial on the robot that is presented to the camera and it is on the same plane of the calibrated camera XY plane (If the robot moves 3mm in XY the camera will measure this as a 3mm delta). This allows me to know a specific point in space in the world frame and in the camera frame. I know that I must create a table of points so that I can generate the XY vectors of each frame for calculating the translation and rotation but I am struggling to start this equation. I figured brevity here may help me get started here so please let me know if you need additional details, thanks!