i have make a static transformer for kinect cameralink frame with parent frame is baselink. I got the point cloud in the right perspective. However, the point cloud frame id shows it is still still in cameraopticaldepthframe. But i want the cloud to be in baselink frame. How can i do that ?

then i tried to follow this tutorial http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF . This is the error it gave me

"[ERROR] [1430025149.086651320]: Received an exception trying to transform a point from "base" to "baselink": Could not find a connection between 'baselink' and 'cameradepthopticalframe' because they are not part of the same tree.Tf has two or more unconnected trees. "

even though i make camera link to be child frame of base link