transformed coordinates negated and in wrong order

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I'm trying to get the example code here: http://wiki.ros.org/image_geometry/Tu... ... to project object positions from gazebo into an image frame.

To get it to work correctly, I had to introduce a horribly hack - negating and rearranging the order of the coordinations on line 63:

• cv::Point3d pt_cv(pt.x(), pt.y(), pt.z());
• cv::Point3d pt_cv(-pt.y(), -pt.z(), pt.x());

Obviously, this is less than satisfactory, and I'm sure I'm doing something wrong up stream. Any suggestions as to how I might identify the source of the problem would be very much appreciated.

cheers!