How to retrieve ZED2 pose in camera frame instead of map frame (ROS)

[Myzhar]

@orrblue this thread can help you:

ZED world coordinate to camera coordinates

Hi, I am working on a solution to visualize 3D position coordinates of objects that I detected and saved in an earlier run. Specifically, after a run/recording, I save the .area map file and also the detections and I would like to visualize them when I visit the same area later with the camera. However, the saved positions are with respect to the world coordinate frame. How could I transform these coordinates to be able to visualize the bounding boxes on my current image, i.e. have the 3d po…