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Unable to align point clouds to merge them

I'm following the setup shown here (For me, cam1 is 101.6 cm for the origin and cam2 is 69.215 cm from the origin)

Using PCL, I rotate the point cloud from cam1 90 degrees, then move it 69.215 cm on the x-axis and -101.6 cm on the z-axis. This should theoretically (in my head) line them up. However, the alignment is off by several cm and I can't seem to figure out why. Both the cameras are approximately at an angle of 90 degrees as well. Does the camera have some margin for error that I'm not considering? Is there something wrong with my approach? Any help would be appreciated!

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