How to get the 'position' of an image used in the stitched image


i am stitching several images together using the Stitcher-Class mentioned here in the example.

I am using the ‘scan’ mode from the stitcher class. The images i am stitching are captured with a mobile robot which takes photos of a wall it is driving along.

My goal is that at the end I am able to click on the resulting stitched image and get the position in space, respectively where on the wall the robot was at that time.

My idea now was to get the position of the individual images in the resulting stitched image back in addition to the resulting stitched image. Based on this, I can then determine the position of the captured.

Do you have any idea how to get the position of a source image in the resulting stitched image?

Tanks in advance for your help!