Magic matrix during exporting to Bundler output

[egoist-sx]

I saw there is a magic matrix multiplied before export rotation as bundler format.

In this line 5246. Why this matrix is needed?

[matlabbe]

The magic transform is to transform camera poses in OpenGL coordinate system (x right, y up, z backward), which is the one used by MeshLab when importing bundler project. RTAB-Map uses ROS coordinate system (x forward, y left, z up). See this example (from this tutorial):

[egoist-sx]

@matlabbe Thanks a lot!