I am trying to draw the camera frustum in RViz using Visualization Markers, specifically the Line Strip (LINE_STRIP=4) marker in Python. I have a rosbag file that contains:

types:       tf2_msgs/TFMessage
topics:      /tf   366 msgs    : tf2_msgs/TFMessage

I would like to draw a frustum that moves with base_link frame, basically indicating my camera's frustum, something like this (red lines indicate camera frustum):

I got the above image from the srsuibut ROS package, with this github page.

There is a file called view.cpp in the github repo with directory srspublic/srsuibut/src/butdatafusion/view.cpp that shows how to draw the camera frustum in C++ but I am trying to do this in Python, that too with the frustum being attached to the baselink frame and moving with it.

So far, I looked at this page for seeing an example of how to publish a marker, but it does not show how to make the marker move according to the tf of the baselink. How can I publish a Marker shaped like the camera frustum that moves as though it is attached to the baselink in RViz, in Python? The screenshot below shows the coordinates of my map and baselink, I want the Marker frustum to translate and rotate exactly how the baselink does. Please please help out, thank you.