Transpose error in transforms when building nuscenes dataset

[chriskeraly]

There is a missing transpose here

        l2g_r_mat = l2e_r_mat.T @ e2g_r_mat.T

should be

        l2g_r_mat = (l2e_r_mat.T @ e2g_r_mat.T).T

This has consequences when updating the reference points from one frame to the next.