title: Halcon - Generate new pose based on 2 poses
body: <p>I have 2 Parallel poses with different origins and different X axis directions (Y is parallel):</p>
  <ul>
  <li>First pose is my ground plane. X is horizontal, Y is vertical, Z is depth.</li>
  <li>Second pose, is somewhere above the first pose floating in the room, with the Y Axis parallel to the first pose's Y axis.. X and Z can be rotated along the Y axis...</li>
  </ul>
  <p>What I need, is a third pose that is The second pose, but lowered onto the first pose, so that Y0 of the third pose is the same as the Y0 of the first pose.</p>
  <p>I am going crazy about this, cant figure out how to do it.
  any help appreciated...</p>
  <p><strong>EDIT: I have updated the question to simplify the problem a little bit.</strong></p>