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If I understand your problem correctly then rviz_camera_stream https://github.com/lucasw/rviz_camera_stream/ may do part of what you want- it can publish an rviz view of the marker from the same perspective as your camera. What it doesn't do currently is underlay the video. That wouldn't be too hard to add (by borrowing code from the rviz Camera plugin).

Or you could have a python node subscribe to both the source video (undistorted/rectified) and an rviz_camera_stream where you have set the background color to black and are only visualizing the Marker, and combine the two in the node (create a mask with the non-background pixels in the rviz image and then copy the marker pixels to the source camera image).

If I understand your problem correctly then rviz_camera_stream https://github.com/lucasw/rviz_camera_stream/ may do part of what you want- it can publish an rviz view of the marker from the same perspective as your camera. What it doesn't do currently is underlay the video. That wouldn't be too hard to add (by borrowing code from the rviz Camera plugin).

Or Instead of adding that feature you could have a python node subscribe to both the source video (undistorted/rectified) and an rviz_camera_stream where you have set the background color to black and are only visualizing the Marker, and combine the two in the node (create a mask with the non-background pixels in the rviz image and then copy the marker pixels to the source camera image).