Something wrong with perception util pkg

[dssdyx]

There is the origin code in perception uitl : `n_top_ << 0.0, sin(M_PI_2 - top_angle_), cos(M_PI_2 - top_angle_); n_bottom_ << 0.0, -sin(M_PI_2 - top_angle_), cos(M_PI_2 - top_angle_);

n_left_ << sin(M_PI_2 - left_angle_), 0.0, cos(M_PI_2 - left_angle_); n_right_ << -sin(M_PI_2 - right_angle_), 0.0, cos(M_PI_2 - right_angle_); T_cb_ << 0, -1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1; T_bc_ = T_cb_.inverse();Tcb means the transformation from body frame to camera frame, but it should be :T_cb_ << 0, -1, 0, 0, 0, 0, -1, 0, 1, 0, 0, 0, 0, 0, 0, 1;`

n_top,n_bottom,n_left,n_right are the dirction of FOV in camera frame. I think the realtionship should be like the picture: