how to make kitti_T_diff file

[qlsinori]

I have done validation on kitti data set and want to do validation on my own data set how do I generate the above file？
Besides why is the transformation matrix multiplied by the calib matrix and its inverse （in kitti_dateset 100:101）？

[qlsinori]

i try to make it with pose[i-1].inv *pose[i],and predicted result keeping to show nan