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How to get transform between two fixed frames using a camera

The most simple and easy way is using a common third frame. Attach a camera to the end effector of each robot and place a calibration board on the ground. Do a hand to eye calibration using the ...
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How to find the camera matrix and distortion matrix from the given data

I assume you got the camera information from somewhere so I would look at the documentation from that source. K is the camera matrix and D are the distortion params. It looks like you got this from ...
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