Hi, I am wondering how to organize my tf tree best, using a kinect kamera on a mobile robot. At the moment I have got the /cameralink -> /cameradepthframe etc tree from openni and a /odom -> /baselink tree from the robot. /cameralink will be connected as a child to /baselink when everything is calibrated.

Now I am using a ROS Wrapper for Kinect Fusion. It is giving me tf messages about the camera movement. But what frame must the kinfuframe be a child of? Is it best to connect it to /odom or maybe to /cameralink? How is it solved in other 3D model generators?