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Hi,

The first thing I would do is to find the pose of the marker in relation to the camera frame:

If you can display the marker frame in your image, you should somehow know the pose of the marker.

As you already have the coordinates of the finger in the camera frame, the coordinates of the finger in the marker frame could be obtained:

Normally, aruco should give you the pose of the marker but I never used this library. The rest is matrix inverse and matrix multiplication.