Coordinate projection on a plane

Hi everyone,

I'll try to be as clear as possible,

So I'm working on a project, where a camera is fixed on table, looking down on it but not exactly on top view (\~20° angle), and I want the object position compared to two trackers (or 3). The tracking part is done, so I have the position of the object on the screen, but now I want the world location for a robot to pick the object.

Here's a drawing …

clear computervision object part plane project projection table tracking view