Is it Gravity-aligned?

[resurgo97]

Hi, I appreciate your work so much.

I am wondering if the camera pose (or 3D point cloud) provided by your dataset is gravity-aligned,
(like if z-axis of them is aligned with the gravity axis in the physical world.)

Thanks,

[jlazarow]

Yes. The point cloud and 3D boxes should always be upright. The camera poses, of course, will have roll/pitch to indicate how to achieve this upright orientation.