python已知Camera及Lidar2到Lidar1外参，求Camera到Lidar2外参

公式推导：
Camra到Lidar1外参：camera_short_extrinsics.yaml

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header: 
 seq: 0
 stamp: 0.000000000
 frame_id: velodyne32_2
child_frame_id: camera_short
transform: 
 translation:
 x: 0.2686889257903541
 y: -0.5643495276385981
 z: 0.1665254108457194
 rotation:
 x: -0.5259060532077984
 y: 0.4801982861606582
 z: -0.4791352340064959
 w: 0.5130904956255803

Lidar2到Lidar1外参：pandar40R_pandar40L_extrinsics.yaml

header:
 stamp:
 secs: 1422601952
 nsecs: 288805456
 seq: 0
 frame_id: velodyne32
transform:
 translation:
 x: 0.134625
 y: -2.20983
 z: -0.100921
 rotation:
 x: -0.00324796
 y: -0.00316435
 z: 0.0266345
 w: 0.999635
child_frame_id: pandar40R