How to get transform between two fixed frames using a camera?

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Hello everyone, In my task, I have two manipulators: one 6 dof robot which is manipulator 2, and one passive arm (Manipulator 1). Both the manipulators frames 1 and 2 are fixed. I would like to transfer the movement that I have with respect to the frame 1 to the frame 2, for this I need to compute the transform between the two fixed frames. To this end I would like to use a camera for defining the frames, how can I get the frames axes using the camera? Thank you in advance for any helpful insights!