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 positions of objects wrt the world frame be converted to be wrt the camera frame?