I am using face_detector to detect human. I work quite well I can detect human and visualize on Rviz.

However, I would like to know that is it possible to transform detected human position from camera_frame to odom frame?

I am using pepper. Its frame view is

odom >> baselink >> torso >> neck >> head >> CameraTopframe >> CameraTopopticalframe

Can I use <node pkg="tf" type="static_transform_publisher" name="tfTest" args="0 0 0 0 0 0 odom CameraTop_optical_frame 10" /> to transfrom pose data to odom ? or any idea?

Thank you.