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I have the exact problem. My solution will work but not very stable, still testing.

I used the lookuptransform function to save the transformation between "base_link" and "map" when pictures were taken, and publish it as "cam_old" frame. After doing that, set frame in marker message to this "cam_old". Then the marker data should come out from this frame. You can use rviz to display the tf of "cam_old" frame. You should see the "cam_old" frame at the previous position of the "cam" frame.