Extrinsic calibration of non-overlapping cameras using hand-eye calibration

[sandeepnmenon]

I have a system of two rigidly connected non-overlapping stereo cameras and I am doing ORB-SLAM to get the trajectories for both of them. I have the poses with the Hamiltonian quarternions at each timestamp as mentioned in this repository.
Then can I use the hand-eye calibration in this repo to get the extrinsics between the two cameras.