I have one global frame of reference (sensor). The body (local frame) rotates from its global frame and now in a particular position. I can tell how much the body has rotated in each axis with respect to the global frame (sensor)[Euler Angle]. Now, I have another global frame of reference(camera). The body (local frame) has rotated and I know its Euler angle with respect to its global frame (camera). How can I relate these two local frame?