Convert camera pose to arm co-ordinates.

[AhmedSamara]

The QRCodeEstimation library returns the 'pose' of the camera, to the QR code.

We need to figure out how to talk between pose and dagu arm co-ordinates.

Keep in mind that the pose (calculated from the camera) is relative to the end effectors co-ordinate frame, but the current arm abstraction deals with the world frame.

[AhmedSamara]

http://image.slidesharecdn.com/426lecture4-2012final-120803022706-phpapp01/95/426-lecture-4-ar-developer-tools-12-728.jpg?cb=1344327307

Turns out that this is actually very straightforward.
Now we just need to figure out how to communicate between this and python (so that we don't have to do the math manually).

which should also be straightforward.