It is written in that Paper that
The commutator table for the Lie algebra is $$ \begin{aligned} & {\left[L_p, L_q\right]=(C-A) L_q ; \quad\left[L_p, L_r\right]=(A-C) L_r ;} \\ & {\left[L_q, L_r\right]=-L_p ;\left[\begin{array}{c} L_p, L_s \\ q \\ r \end{array}\right]=0 .} \end{aligned} $$ It is easy to show that this group is isomorphic to $\mathrm{SO}(2,1)$ when $A-C \neq 0$.
where, $A$ and $C$ are real numbers. Moreover, $$[L_{p},L_{s}]=[L_{q},L_{s}]=[L_{r},L_{s}]=0.$$
I know that
$$SO(2,1)=\{X\in \operatorname{Mat}_3(\mathbb{R}) \,|\, X^t\eta X=\eta, \det(X)=1\},$$ where $$\eta = \left ( \begin{array}{ccc} 1&0&0\\0&1&0\\0&0&-1\end{array}\right ) .$$
But my question is how to prove that the Lie algebra of ${L_{p}, L_{q}, L_{r}}$ and the lie algebra of SO(2,1) are isomorphic?
Any help with that is appreciated.