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The answer was suggested by mch, I needed to also record tf_static.

The answer was suggested by mch, mch,

This message means you don't have TF (http://wiki.ros.org/tf) between those cameras published. TF between 2 cameras most likely is the static one. I think you need to record both /tf and /tf_static. Also do rostopic echo /tf_static and check that TF between those cameras is there in the output.

I needed to also record tf_static.