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

**URL:** <https://community.stereolabs.com/t/how-to-retrieve-zed2-pose-in-camera-frame-instead-of-map-frame-ros/187>\
**Category:** ROS1\
**Created:** [April 9, 2021, 8:03pm UTC](https://community.stereolabs.com/t/how-to-retrieve-zed2-pose-in-camera-frame-instead-of-map-frame-ros/187 "2021-04-09T20:03:30Z")\
**Posts on this page:** 1\
**Showing post:** 3

<div class="post-metadata">

**Author:** ![Myzhar](https://community.stereolabs.com/user_avatar/community.stereolabs.com/myzhar/32/11_2.png) [@Myzhar](https://community.stereolabs.com/u/Myzhar)\
**Post date:** [April 14, 2021, 3:45pm UTC](https://community.stereolabs.com/t/how-to-retrieve-zed2-pose-in-camera-frame-instead-of-map-frame-ros/187/3 "2021-04-14T15:45:06Z")

</div>

@orrblue this thread can help you:

> [@ZED world coordinate to camera coordinates](https://community.stereolabs.com/t/zed-world-coordinate-to-camera-coordinates/192):
>
> 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…

---

_[View the full topic](https://community.stereolabs.com/t/how-to-retrieve-zed2-pose-in-camera-frame-instead-of-map-frame-ros/187)._