double rotx1 = -((t[2] * t1[1] - t1[2] * t[1]) / (t1[1] * t1[1] + t1[2] * t1[2]));
double rotx11 = Math.Asin(rotx1) / Math.PI * 180;
double roty1 = -((t[2] * t1[0] - t1[2] * t[0]) / (t1[0] * t1[0] + t1[2] * t1[2]));
double roty11 = Math.Asin(roty1) / Math.PI * 180;
double rotz1 = -((t[1] * t1[0] - t1[1] * t[0]) / (t1[0] * t1[0] + t1[1] * t1[1]));
double rotz11 = Math.Asin(rotz1) / Math.PI * 180;
Console.WriteLine("X=" + Convert.ToString(rotx11) + " Y=" +
Convert.ToString(roty11) + " Z=" + Convert.ToString(rotz11));

double[] pos = { 395, -0, 37, 90, 90, 0 };//The coordinates of the first marker.
        double[] pos1 = { 321, -0, 37, 90, 90, 0 };//The coordinates of the second marker.
        double[] t = { 0, 0, 0, 0, 0, 0 };
        double[] t1 = { 0, 0, 0, 0, 0, 0 };
        double[] t2= { 0, 0, 0, 0, 0, 0 };

        double x = -45.5;//Known changes in the coordinates of the point of the first marker
        double y = 59;
        double z = 33 ;

        double x1 = -38.5;// Known changes in the coordinates of the point of the second marker
        double y1 = 40.5;
        double z1 = 54;

        t[0] = pos[0] + x;
        t[1] = pos[1] + y;
        t[2] = pos[2] -4;
        t[3] = pos[3];
        t[4] = pos[4];
        t[5] = pos[5];

        t1[0] = pos1[0] + x1;
        t1[1] = pos1[1] + y1;
        t1[2] = pos1[2] + 17;
        t1[3] = pos1[3];
        t1[4] = pos1[4];
        t1[5] = pos1[5];


        double Ayx21 = Math.Atan2(t[1] - t1[1], t[0] - t1[0]) / Math.PI * 180;

        double rotx = Math.Atan2(t[1] - t1[1], t[2] - t1[2]);

        double roty1111 = -Math.Atan2((t[2] - t1[2]) * Math.Cos(rotx), (t[1] - t1[1]));

        double rotz = Math.Atan2(Math.Sin(roty1111), Math.Sin(rotx) * Math.Cos(rotx)) / Math.PI * 180;
        double rotx11111 = (rotz) - (Ayx21);
        double roty = -Math.Atan2((t[2] - t1[2]) * Math.Cos(rotx), (t[1] - t1[1])) / Math.PI * 180;
        t2[0] = pos[0] + x;
        t2[1] = pos[1] + y;
        t2[2] = pos[2] + z ;//убрать потом -37
        t2[3] = (rotx11111);
        t2[4] = (90 + roty);

         t2[5] = (180 + rotz);
        string position1 = Convert.ToString(t2[0]).Replace(',', '.');
        string position2 = Convert.ToString(t2[1]).Replace(',', '.');
        string position3 = Convert.ToString(t2[2]).Replace(',', '.');
        string angle1 = Convert.ToString(t2[3]).Replace(',', '.');
        string angle2 = Convert.ToString(t2[4]).Replace(',', '.');
        string angle3 = Convert.ToString(t2[5]).Replace(',', '.');
        Console.WriteLine("[" + Convert.ToString(position1) + "," + Convert.ToString(position2) + "," + Convert.ToString(position3) + "," + Convert.ToString(angle1) + "," + Convert.ToString(angle2) + "," + Convert.ToString(angle3) + "]");