# What is the best way to superimpose bounding boxes on a pointcloud created by rgbdslam?

I'm new to ROS, so I'm sorry if the question has a trivial answer. I'm trying to use rgbdslam_v2 (on 14.04 in ROS indigo) in conjunction with a 2D object detector to place bounding boxes in a 3D pointcloud. A simpler version of this problem is: If I have (x, y, timestamp) coordinates (where the timestamp corresponds to the image frame, and the (x, y) represent a location in that image), how would I find the correct point in the rgbdslam point cloud that corresponds with this coordinate from the image frame? My initial thought is to use the data published to /tf in order to figure out where the camera (kinect 2) is at every timestamp, and based on that, select the correct point from that position, but I have no idea where to start with this approach. Is this the best way to go about this? Any ideas on a better approach or how to get started with this one? If rgbdslam records camera position data, that would make it easier, but I don't think it does. Any suggestions would be very helpful! Thanks.