How to override coordinate system relative to marker in OpenCV with ArUco?

Question

augmented reality

Good afternoon.
The task is to determine the coordinates of the found markers relative to one main one.
Now the whole system determines the coordinates and direction of the markers relative to the camera.
However, I do not know how to achieve the transfer of the coordinate system relative to the marker.
There is a marker position log (see figure) in global coordinates relative to the camera.
pos0 - the position of the main marker () closest in the figure, pos1 - the coordinates of which need to be recalculated.
At the output, pos1 should have coordinates (5,15,0).
PS:
The difficulty is that the camera has a left-sided SC, and the markers have a right-sided one.
Marker axes are marked as X - red, Y - green, Z - blue.
Tell me where to dig?

pos0 V: [9.86344, 4.12779, 33.4307]     Rv: [1.74664, -1.19402, 0.501766]
pos1 V: [-1.47401, -0.197234, 44.7942]  Rv: [1.78063, -1.17612, 0.412655]
/----------------------------
pos0 V: [9.63532, 4.04579, 33.3678]     Rv: [1.74319, -1.20164, 0.503853]
pos1 V: [-1.71655, -0.267247, 44.2805]  Rv: [1.77844, -1.17084, 0.406641]