Final rotation matrix and translation vector

[Jakub Glowacz]

Hello, I performed the extrinsic calibration on the kitti dataset and I wanted to check if alligns with the gound truth:

I am not sure though what is the format of the rotation matrix and the translation vector. Is the rotation matrix just the general rotation matrix model as shown below?

In the case of the translation vector, does it just output the distance of x,y and z in meters? I was not able to find these information in the repo nor in the paper so I would like to clarify.