code transform confused.

[panecho]

Halo there. Is this repository being maintained still? I'm confused about the transform here.Though it is supposed to be like:

point.at<double>(0) = cloud_in->points[i].x;
point.at<double>(1) = cloud_in->points[i].y;
point.at<double>(2) = cloud_in->points[i].z;

but the effect is better with:

point.at<double>(0) = cloud_in->points[i].x;
point.at<double>(1) = -cloud_in->points[i].z;
point.at<double>(2) = cloud_in->points[i].y; 

why ?

[yuzhou42]

Sorry for the late reply. It's the transformation between different coordinate system: image and laser coordinate.

[panecho]

@NicoChou after checking the solvepnp.cpp file what the R and t represent, I clean my confusedness. this package helps me a lot, thank you!