diff --git a/src/image_undistort.cpp b/src/image_undistort.cpp
index bafe124..d8cb90d 100644
--- a/src/image_undistort.cpp
+++ b/src/image_undistort.cpp
@@ -220,6 +220,8 @@ void ImageUndistort::imageCallback(
     }
     if (frame.empty()) {
       ROS_ERROR_ONCE("Image frame name is blank, cannot construct tf");
+      } else if (frame == output_frame_) {
+        ROS_ERROR_ONCE("Input and output frame are identical ('%s'), cannot construct tf", frame.c_str());
     } else {
       br_.sendTransform(tf::StampedTransform(tf::Transform(R_ros, p_ros),
                                              image_out_ptr->header.stamp, frame,
diff --git a/src/stereo_undistort.cpp b/src/stereo_undistort.cpp
index 141b1f9..1864aa8 100644
--- a/src/stereo_undistort.cpp
+++ b/src/stereo_undistort.cpp
@@ -246,6 +246,8 @@ void StereoUndistort::processAndSendImage(
       }
       if (frame.empty()) {
         ROS_ERROR_ONCE("Image frame name is blank, cannot construct tf");
+      } else if (frame == first_output_frame_) {
+        ROS_ERROR_ONCE("Input and output frame are identical ('%s'), cannot construct tf", frame.c_str());
       } else {
         br_.sendTransform(tf::StampedTransform(tf::Transform(R_ros, p_ros),
                                                image_out_ptr->header.stamp,
@@ -275,6 +277,8 @@ void StereoUndistort::processAndSendImage(
       }
       if (frame.empty()) {
         ROS_ERROR_ONCE("Image frame name is blank, cannot construct tf");
+      } else if (frame == first_output_frame_) {
+        ROS_ERROR_ONCE("Input and output frame are identical ('%s'), cannot construct tf", frame.c_str());
       } else {
         br_.sendTransform(tf::StampedTransform(tf::Transform(R_ros, p_ros),
                                                image_out_ptr->header.stamp,