Transformation when advertising and subscribing poses

[qq1962572025]

    laserOdometry.header.stamp = cloudHeader.stamp;
    laserOdometry.pose.pose.orientation.x = -geoQuat.y;
    laserOdometry.pose.pose.orientation.y = -geoQuat.z;
    laserOdometry.pose.pose.orientation.z = geoQuat.x;
    laserOdometry.pose.pose.orientation.w = geoQuat.w;
    laserOdometry.pose.pose.position.x = transformSum[3];
    laserOdometry.pose.pose.position.y = transformSum[4];
    laserOdometry.pose.pose.position.z = transformSum[5];

Like the code above，the poses are transformed before advertising and after subscribing.I wonder the transformation is offset. What is the purpose of doing so?

[shikeqin123]

maybe just for V-loam. lego-loam is inherited from loam, its author may want to add a camera coordinate system. 

------------------ 原始邮件 ------------------ 发件人: "RobustFieldAutonomyLab/LeGO-LOAM" <notifications@github.com>; 发送时间: 2020年11月5日(星期四) 下午4:41 收件人: "RobustFieldAutonomyLab/LeGO-LOAM"<LeGO-LOAM@noreply.github.com>; 抄送: "Subscribed"<subscribed@noreply.github.com>; 主题: [RobustFieldAutonomyLab/LeGO-LOAM] Transformation when advertising and subscribing poses (#209)

 laserOdometry.header.stamp = cloudHeader.stamp;     laserOdometry.pose.pose.orientation.x = -geoQuat.y;     laserOdometry.pose.pose.orientation.y = -geoQuat.z;     laserOdometry.pose.pose.orientation.z = geoQuat.x;     laserOdometry.pose.pose.orientation.w = geoQuat.w;     laserOdometry.pose.pose.position.x = transformSum[3];     laserOdometry.pose.pose.position.y = transformSum[4];     laserOdometry.pose.pose.position.z = transformSum[5];  

Like the code above，the poses are transformed before advertising and after subscribing.I wonder the transformation is offset. What is the purpose of doing so?

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