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From the ar_kinect wiki page:

ar_pose_markers (ar_pose/ARMarkers) An array of markers, each marker describe the current pose relative to the camera.

visualization_marker (visualization_msgs/Marker) Visualization marker for rviz

So you should be able to get the positions from the ar_pose_markers messages. These poses will be in camera space, so you will need to define the transformation from camera space to world frame if you want the ar marker coordinates in world space. You could do this by making publishing a transform from your camera to the world space.