Question about the tform in lidar camera calibration

Hi all

I follow the ``lidar camera calibration'' tutorial to calibration my sensor suite. I have manually check the extract 2D corners and 3D corners. However, I got wrong transformation results.

The initial transforamtion that is given by me:

0 0 1.0000 0

-1.0000 0 0 0

0 -1.0000 0 0

0.0300 0.1300 -0.0700 1.0000

The resulting transformation that is computed by the ``estimateLidarCameraTransform'' function:

0.0258 0.0873 -0.9958 0

0.9963 0.0797 0.0328 0

0.0822 -0.9930 -0.0849 0

-0.3118 -0.2772 3.1690 1.0000

The code and data link are shared in: https://drive.google.com/drive/folders/1WNQDUbW1K90Cx7AcDlp6sLJ4j5SFXKVV?usp=sharing

Thanks.