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First, you can try to just measure the transform manually between them or to a common point and that can get you close enough. Otherwise, make a setup with two fiducuals that you know an exact transform between, and then detect one of the fiducuals in each image and you can then get the relative transform between the cameras. Make sure both cameras are intrinsicly calibrated if you decide to do the second option. Without any overlap in the cameras images themselves, that might be the most reliable way.