# Tag Info

The steps are pretty easy to implement! The Realsense provides you with the depth $d$ corresponding to the pixel $(u,v)$. Knowing from the forward kinematics of the robot arm the $4 \times 4$ homogeneous transformation $\mathbf{T}$ from the root reference frame to the 3D frame of the camera attached to the end-effector, the 3D coordinates of the point \$\...