3D Reconstruction Methods
两个3D坐标系的位置关系：旋转分量矩阵的三个列向量为新坐标系的三个轴向相对于旧坐标系的坐标。
Coordinate System Rotation Chains
• When reading a chain from the left to right, rotations are performed around the “new” axes.
• When reading a chain from the right to left, rotations are performed around the “old” axes.
