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Please make sure you don't miss any ROS tutorial thats relevant to you. Including those concepts at the bottom. For you most important is the tf concept.

Basically your camera has to be set a coordinate frame that is included in its image message's header, along with the timestamp. Then any node can ask the tf system what offset that frame had in respect to another (e.g. /map) for any given time (though I don't know the default history length).