Voxelized data is shifted upwards

[risteon]

Dear authors of SemanticKITTI,
I've made the following observation:
The voxelized annotated point clouds (input grid, target grid, ...) are shifted one voxel upward due to a bug in the voxelizer saveVoxelGrid routine. This gets apparent when plotting the input point cloud together with the voxelized data.

See this pull request for the SemanticKITTI voxelizer:
jbehley/voxelizer#4

[jbehley]

Good catch. I already merged your changes and will regenerate the data within the next days.

Luckily, the error did not invalidate the results from the metrics. I will write here, when I changed the data and everything is ready for download.

Thanks again for finding this problem and notifying us about it.

[risteon]

You're welcome. Thanks for the nice work with the dataset.

[risteon]

Luckily, the error did not invalidate the results from the metrics. I will write here, when I changed the data and everything is ready for download.

Did you already find the time to fix the data on the server? I'm unsure whether to submit with the 'old/shifted' voxel data or the 'new/fixed' data.

[jbehley]

As always, different other things needed my attention. I hope to find soon time to look at the issue. Sorry for the delay :(

[jbehley]

Hi @risteon,

I finally managed to take the time to regenerate the data. I visually verified that the data looks okay. I generate the data now with the correct counter.

Hope that resolves the issue then. You can now download the new data at http://semantic-kitti.org/dataset.html#download.

Bonus: I also now generate all scans for the training data which people now download.

[risteon]

Hi @jbehley,
thank you for updating the data - I had a look at it and it appears all right. I'm closing this issue now.
However, when submitting to the benchmark, I get a missing files error.
So I opened a new issue: #59
I don't now if it is related to the data update, I would appreciate it if you could take a look.