In matlab_detect_cuboid.m, frame_full_infos.Rot for kitti data

[zhixun25]

Hello, the Rot in detect_cuboid.m is to transform the point of the camera coordinates to the point of the world coordinates. What should it be for kitti data? I use T*trans(gt_pose), where gt_pose is provided for kitti, https://s3.eu-central-1.amazonaws.com/avg-kitti/data_odometry_poses.zip, T is 1 0 0 0 0 -1 0 1 0, but it seems wrong. Can you tell me how to input frame_full_infos.Rot when running kitti dataset?
Thank you in advance for your support!