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You're saying you have the position of the camera in 3D already, right?

Then, you would have to write this yourself, but this is fairly easy with the tf library (best read through the documentation and the tutorials). However, you need to have your camera and IMU set up correctly in the urdf. With the position of the target in the camera frame (i.e. x,y,z with respect to the camera), you can call tranformPoint (see documentation here) to transform the Point from the camera frame into any other frame you have avaiable (e.g. the base_link frame of your robot or any map or world frame you have set up).