Question regarding the consistency of object orientation (object frame) of common classes across datasets

[guthasaibharathchandra]

Hi, Thanks for this awesome collection of datasets! I was just wondering if the object orientations of a particular class is consistent across the datasets. For eg. say we have 'bed' class, in sunrgbd the orientation of the bed (in object centric frame) is defined as let's say, the front face is the bed facing up (i.e normal direction of mattress), in other dataset such as hypersim is the front face of the bed defined in the same way? Because if not, then even if we convert all the annotations into a common co-ordinate frame, it is still inconsistent right. Could you please throw some light on this. Thanks :)

[guthasaibharathchandra]

Also wanted to ask whether you use sunrgbd v1 labels or v2. Thanks!