how to transform position from one point of a frame to another frame.

edit

Hello

What is the best way to transform a point that is in the "camera_frame" frame to the "map" frame using only TF and python. I would like the last available transformation to be used.

Example of the position I want to convert to the map frame:

 pose_in_the_camera_frame = PoseStamped()
 pose_in_the_camera_frame.header.frame_id = "camera_frame"
 pose_in_the_camera_frame.header.stamp = rospy.Time.now()
 pose_in_the_camera_frame.pose.position.x = 1
 pose_in_the_camera_frame.pose.position.y = 1
 pose_in_the_camera_frame.pose.orientation.z = 0
 pose_in_the_camera_frame.pose.orientation.w = 1

I saw something about "listener.waitForTransform", "listener.lookupTransform" and "listener.transformPose", but I'm not sure how to use the latest available transformation between "camera frame" and "map"

thanks