[SELFY] Multi-Agent Situational Awareness Database

This dataset has been created in the context of SELFY project. It includes ROS1 rosbags comprising both real-world measurements and synthetic data generated with the CARLA simulator, as well as the definitions of ROS messages. Each rosbag contains the following type of data:

Images captured by the cameras;

Cloud points captured by the LiDARs;

Ground truth regarding the position of objects involved in the scene (vehicles, pedestrians).

本数据集为适配SELFY项目而创建。其包含ROS 1 数据包（rosbag），涵盖真实场景采集的实测数据与借助CARLA模拟器生成的合成数据，同时包含ROS消息的定义文件。每个ROS 1数据包均包含以下类型的数据：
- 摄像头采集的图像；
- 激光雷达（LiDAR）采集的点云数据；
- 场景内相关物体（车辆、行人）的位置真值信息。