Computing linear and Angular Velocities w.r.t the camera frame of Bebop

[LArayane]

Hi, Am trying to compute the linear and angular velocity of the bebop w.r.t its camera frame, I was thinking that since the camera is placed on the X_axis of the body frame, the velocities w.r.t X,Y and Z in the body frame correspond respectively to Z,X and Y in the camera frame!!

Please correct me if am wrong or kindly confirm it if what I was saying makes sense! Many thanks