Before publish calculated TF, what is done for rotation?

[narutojxl]

Hi, everyone! Before publish calculated TF, author changes rotation as follows Link is here.

geometry_msgs::Quaternion geoQuat =
tf::createQuaternionMsgFromRollPitchYaw(transformSum().rot_z.rad(),
-transformSum().rot_x.rad(),
-transformSum().rot_y.rad());
_laserOdometryMsg.pose.pose.orientation.x = -geoQuat.y;
_laserOdometryMsg.pose.pose.orientation.y = -geoQuat.z;
_laserOdometryMsg.pose.pose.orientation.z = geoQuat.x;
_laserOdometryMsg.pose.pose.orientation.w = geoQuat.w;

I calculate the following rotation as follows to see the difference between the above one.

geometry_msgs::Quaternion geoQuat =
tf::createQuaternionMsgFromRollPitchYaw(transformSum().rot_z.rad(),
transformSum().rot_x.rad(),
transformSum().rot_y.rad());
_laserOdometryMsg.pose.pose.orientation.x = geoQuat.x;
_laserOdometryMsg.pose.pose.orientation.y = geoQuat.y;
_laserOdometryMsg.pose.pose.orientation.z = geoQuat.z;
_laserOdometryMsg.pose.pose.orientation.w = geoQuat.w;

The result is: the difference TF between them is not a statis TF, does somebody know the reason? BTW, which one is the laser frame(X-left, Y-up, Z-front in loam) 's pose in camera_init frame, or they both not? Thanks in advance.