This function renders the map annotations in the camera view:
I suggest you create a modified copy and return the results, rather than printing them.
Note however that this method is not optimized for speed (you should probably render these to disk).
Furthermore the results can be inaccurate on sloped roads as we do not model z/pitch/roll in the localization.
Here is an example: https://www.youtube.com/watch?v=wUBdMrnL6BU