I want to transform the vector from camera frame to body frame, so I listen the transformation bwtween "/base_link" and "/downward_cam_link" and covert it to rotation matrix.
R_cam2body =
0 0 1
0 1 0
-1 0 0
Since the x-y-z axis of camera(downward) frame is right-back-down, then the axis of body frame is back-down-left, it is very strange.
Somewhere is wrong? Please give me some advice.
I want to transform the vector from camera frame to body frame, so I listen the transformation bwtween "/base_link" and "/downward_cam_link" and covert it to rotation matrix. R_cam2body = 0 0 1 0 1 0 -1 0 0
Since the x-y-z axis of camera(downward) frame is right-back-down, then the axis of body frame is back-down-left, it is very strange. Somewhere is wrong? Please give me some advice.