One taxonomy with two custom post types

I’m using two custom post types and one taxonomy. I would like to have a permalinkstructure like the following. How can I do that?

http://example.com/taxonomy/child-taxonomy/custom-post-type-one/the-post-id
http://example.com/taxonomy/child-taxonomy/custom-post-type-two/the-post-id

http://example.com/camera/canon-eos-7d/reviews/21
http://example.com/camera/canon-eos-7d/listing/34

Anyone?