Questions about the resulting transform

[BruceCanovas]

Hi and thank you for this package.

I am trying to use it to find the relative transform between the base of my robot (base_link frame, x axis forward, y axis left and z axis upward) and a camera mounted on top of it (camera_link frame x axis forward, y axis left and z axis upward). I managed to make it run but didn't obtained good results.

That's why there are some point I would like to confirm:

-the transformation (Rrc, trc) provided by the calibration designed the pose of the robot base with regard to the camera, or the pose of the camera with regard to the robot?

-the results are given considering the camera_link frame, or the camera_optical_frame frame (x right, y down and z forward)?