Transform human pose from camera_frame to Odom frame

I am using face_detector to detect human. I work quite well I can detect human and visualize on Rviz. However, I would like to know that is it possible to transform detected human position from camera_frame to odom frame? I am using pepper. Its frame view is odom >> base_link >> torso >> neck >> head >> CameraTop_frame >> CameraTop_optical_frame Can I use `` to transfrom pose data to odom ? or any idea? Thank you.