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So I found a work around and posting it here so it would be useful to others.

First calculate the camera poses using a temporary namespace for the cameras. e.g i used kinect1_temp and kinect2_temp. Once the calibration file is saved you would have transforms from /world to /kinect1_temp_rgb_optical_frame and /kinect2_temp_rgb_optical_frame. Now launch the tf publisher and launch the cameras using namespaces that you would use later e.g. kinect1 and kinect2. Calculate the transforms from kinect1_rgb_optical_frame to kinect1_link. Use this transform to link kinect1_temp_rgb_optical_frame and kinect1_link. The corresponding tf tree can be found at dropbox (Add this after dropbox's address. I dont have enough karma to post links) /s/azth2ks4k0g5vxk/CheckerBoardCalibrationTFtree.pdf

Since Tf tree does not support cyclic trees, it is workaround using dummy namespaces assuming the camera positions remain constant.

Hope it helps someone.

So I found a work around and posting it here so it would be useful to others.

First calculate the camera poses using a temporary namespace for the cameras. e.g i used kinect1_temp and kinect2_temp. Once the calibration file is saved you would have transforms from /world to /kinect1_temp_rgb_optical_frame and /kinect2_temp_rgb_optical_frame. Now launch the tf publisher and launch the cameras using namespaces that you would use later e.g. kinect1 and kinect2. Calculate the transforms from kinect1_rgb_optical_frame to kinect1_link. Use this transform to link kinect1_temp_rgb_optical_frame and kinect1_link. The corresponding tf tree can be found at dropbox (Add this after dropbox's address. I dont have enough karma to post links) /s/azth2ks4k0g5vxk/CheckerBoardCalibrationTFtree.pdfseen here.

Since Tf tree does not support cyclic trees, it is workaround using dummy namespaces assuming the camera positions remain constant.

Hope it helps someone.