Drawing camera frustum in RViz using tf and Visualization Marker

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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 srs_ui_butROS package, with [this github page.] (https://github.com/ipa320/srs_public)

There is a file called view.cpp in the github repo with directory srs_public/srs_ui_but/src/but_data_fusion/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 base_link 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 base_link. How can I publish a Marker shaped like the camera frustum that moves as though it is attached to the base_link in RViz, in Python? The screenshot below shows the coordinates of my map and base_link, I want the Marker frustum to translate and rotate exactly how the base_link does. Please please help out, thank you.