Convert the world coordinate system obtained by the camera to the car coordinate system

Good morning friends, I recently wanted to make the world coordinate system of the image obtained from ZED2I and then want to convert it into the car coordinate system. I really have no idea. Can any friends guide me? thanks.

Hi @lv9
can you add more details?
What kind of coordinates are you trying to get?
What’s the reference point?
What math knowledge do you have? (coordinate transformation is not a straightforward process)