This tutorial teaches you how to use the camera_pose_urdf_updater package to add the Kinect camera frame as a child into an existed (also already calibrated) PR2 urdf tree.

Suppose you have a camera mounted somewhere in the room, this tutorial teaches you how to find out the camera pose relative to the map frame.

The camera_pose_toolkits package provides a convenient tool called camera_dispatcher that allows the user to dynamically switch between different cameras. This tutorial shows you how to use it to help manage multiple-camera calibration.