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when you try to save the object's name you would give a class to the object and name to the object. Lets say when you were saying the object you gave the class as "box" and name as "red".

So your object's id is box.red and to get a pose of the object with respect to the kinect you should give the parent id and child id by using rosrun tf tf_echo parent_id child_id.

so here it will be: rosrun tf tf_echo openni_depth_camera box.red

and you will get the pose in terms of translation, quaternions and RPY.

Regards, Faizan Mohammed