How to transform Local camera frame to GPS or ENU coordinate

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Hi All I am using ROS_indigo for Tracking marker based camera poses.I Have camera poses

          x                          y                                   z

0.121479289178 -0.106297347731 1.62793653837
0.786298557045 0.402245846399 1.54599247475
0.786059675294 -0.113879785059 1.58497680159
0.121330147186 -0.107066288802 1.62733927345
0.121800479286 -0.106119046842 1.62937524479 UI want to transform these point in WGS-84 or ENU co-ordinate frame from local.Could anybody let me know how I can do that means In ROS or any Papers that I can follow for standard positioning transformation.

Thanks in advance.

Best Taher