frame_full_infos.Rot for ICL-NUIM dataset

[TINY-KE]

Thanks a lot for your work.
In the process of running "detect_cuboid.m" on the ICL_NUIM dataset, I encountered this problem:
The camera Rot need be input into "frame_full_infos.mat", so I get the camera pose from the groudtruth.
However ,the y-axis of ICLNUIM world frame is vertically upward. Detect_cuboid.m ask the z-axis of the world coordinate system is upward.
So I input [1,0,0;0,0,-1;0,1,0]*R as the frame_full_infos.Rot, where R is got from the groudtruth.
But, there are still errors on generating VPs. I think frame_full_infos.Rot is still wrong. Would you be so kind to provide some instructions?
Could you tell how to input the frame_full_infos.Rot when you run the ICL_NUIM dataset.
Thanks in advance for your support!

十分感谢您的工作。
我在运行detect_cuboid.m 处理ICL_NUIM数据集的过程中，在camera.Rot上遇到了问题，希望能得到您的解答：
frame_full_infos.mat中需要输入相机的Rot（世界坐标系到相机坐标系的旋转矩阵），因此我使用了groudtruth中的相机位姿。
detect_cuboid.m中规定世界坐标系的z轴是竖直向上的，但是ICL数据集中世界坐标系的y轴是竖直向上。
因此我将[1,0,0;0,0,-1;0,1,0]*R 输入到 frame_full_infos.Rot， 其中R是从groudtruth中得到的。
但是，生成消隐点VP，还是有问题，我认为frame_full_infos.Rot还是不对，请问您能看出哪里错了吗？
以及您在使用ICL数据集的时候，是怎么输入的 frame_full_infos.Rot？
十分感谢。