Rotation with static transform publisher and Eigen

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Hi everyone, I'm trying to find a rigid body transformation between lidar and camera. If I use the launch file to broadcast the transformation, it works well and the result seems good. But I could not provide the same result with the Eigen matrix operation.

This is static transform publisher args in launch file: args=" -0.100586794 0.000107629 -0.10208744 -1.51199 0.0741937 -1.59904 velodyne camera 100"

I'm in trouble about rotation. My Eigen matrix gives fault results. I guess the Euler order is wrong in my implementation. How can I compute? Also, my aim is to spin around firstly -87 degree on the z-axis, then -91 degree on the x-axis. This my target rotation as it seems above.