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If I have got it correctly, you are using the find_object_2d with the ~subscribe_depth parameter set to True (which is, you have RGB and registered depth information). You should then see one TF per detected object being published. You can check it out in Rviz.

If that is the case, I see two main options:

• Look into this script to understand how to use tf to transform the origin of the object reference frame into the robot's base reference frame.

• Directly give to move_base a point (e.g. the origin) in the objects' reference frame (i.e. specifying the objects' reference frame in the PoseStamped header).

I acknowledge that this is more an alternative solution than an answer to your question about homographic transforms, but I hope it will be helpful!