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What do you mean with "/world is different for each pairwise calibration"? The poses of all the camera's are published relative to an arbitrary frame called "world". Every time you re-run the calibration, the world frame can be in a different location. The relative poses between the camera's should still be correct though.

It sounds like you would prefer the calibration_tf_publisher to have a different behavior. What kind of tf tree would you like to see? E.g. in the case you have 3 camera's cam1, cam2 and cam3, how would you like to see them connected? In any case, it is easy to write an alternative calibration_tf_publisher. When the calibration finishes, the result is published on the 'camera_calibration' topic. Based on the information from that topic, we can basically publish any tf tree you'd like.