additional publisher for marker point in image coordinate system

[abish-a]

No description provided.

[130s]

@abish-a Thanks for the contribution. Can you help the community by explaining the usecase, the issue that this change addresses etc.?

CI passed so as long as the above becomes clearer, this can be merged IMO.

[abish-a]

@130s Sorry for the late reply.
This additional msg could be useful for application which require coordinates in camera coordinate system.
It also helps to do an accurate extrinsic calibration using the markers at different positions along with the information of the world.