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--- |
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license: mit |
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task_categories: |
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- robotics |
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- object-detection |
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- depth-estimation |
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pretty_name: ROBOMASTER 2025 LiDAR ROSBAG |
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tags: |
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- robotics |
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- rosbag |
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- lidar |
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- robomaster |
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--- |
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<div align="center"> |
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<img src="Doc/Figures/NCUST-HORIZON-LiDAR.png" alt="HORIZON 雷达组" width="300"/> |
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</div> |
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<h2 align="center">ROBOMASTER-2025 · 华北理工大学HORIZON战队 · LiDAR ROSBAG</h2> |
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--- |
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## 📖 概述 |
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<div align="left"> |
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**数据来源：** [华北理工大学 HORIZON 战队 — 雷达组](https://github.com/BreCaspian/RoboMaster-Lidar-Lab) |
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**依托平台：** [华北理工 RM 创新实验室](https://space.bilibili.com/481866846?spm_id_from=333.337.0.0) |
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**录制时间地点：** ROBOMASTER 2025 超级对抗赛，北京理工大学（珠海）南部赛区现场实录 |
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**数据用途：** ROBOMASTER 场景下的点云识别、目标检测、三维建图等任务 |
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</div> |
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--- |
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## 🗂️ 数据概览 |
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| 文件名 | 时长 | 大小 | 消息数 | 点云话题 | |
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| ------------------------ | ------ | ------- | ---- | -------------- | |
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| `RM-LiDAR-ROSBAG_01.bag` | 13分22秒 | 11.2 GB | 8037 | `/cloudpoints` | |
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| `RM-LiDAR-ROSBAG_02.bag` | 13分59秒 | 12.9 GB | 8399 | `/cloudpoints` | |
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> 数据格式为标准 ROS 1 `.bag` 文件，未压缩，采样频率约为 10 Hz。 |
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<div align="center"> |
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<table> |
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<tr> |
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<td align="center"> |
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<img src="Doc/Figures/Lidar-ROSBAG-2-GIF-View1.gif" width="480"/> |
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</td> |
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<td align="center"> |
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<img src="Doc/Figures/Lidar-ROSBAG-2-GIF-View2.gif" width="480"/> |
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</td> |
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</tr> |
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</table> |
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</div> |
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🎥 ROSBAG展示视频：[Bilibili 视频链接](https://www.bilibili.com/video/BV1s6tnz9Enr/?spm_id_from=333.337.search-card.all.click&vd_source=3c76eab145811dc6a99e9691ce7f2384) |
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--- |
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## 🛠 使用设备：镭神 CH128X1 激光雷达 |
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| 参数项 | 值 | |
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| :------: | :--------------------------------: | |
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| 通道数 | 128 线 | |
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| 探测距离 | 最远 200 m（10% 反射率下约 160 m） | |
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| 测距精度 | ±3 cm | |
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| 点云速率 | ≈ 760,000 点/秒 | |
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| HFOV | ≈ 120° | |
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| VFOV | ≈ 25° | |
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| 角分辨率 | 水平 0.2°，垂直最小 0.125° | |
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| 旋转频率 | 设置为--10 Hz | |
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> 得益于高通道密度与点云速率，ROSBAG质量较高可用于比赛相关算法研究。 |
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--- |
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## ⚙ 使用方法 |
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### ▶ 播放数据 |
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```bash |
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roscore |
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rosbag play RM-LiDAR-ROSBAG_01.bag |
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rosbag play RM-LiDAR-ROSBAG_02.bag |
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``` |
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### 🧿 RViz 可视化 |
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```bash |
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rviz |
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``` |
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设置 **`Fixed Frame`** 为： |
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``` |
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CH128X |
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``` |
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添加显示项： |
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``` |
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Add -> By Topic -> PointCloud2（即 /cloudpoints） |
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``` |
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--- |
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## 🧊 使用建议与注意事项 |
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* **高点云速率**：CH128X1 输出点云密度极高，直接加载可能导致OOM |
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* **推荐预处理**：建议对原始点云进行下采样（如 `VoxelGrid`, `RandomSample` 等），再接入程序中使用 |
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* **非实时回放建议**：可使用低速率播放（如 `rosbag play -r 0.5`）以便逐帧观察 |
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--- |
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## 📥 数据下载 |
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📁 **百度网盘（Baidu Netdisk）**--🔗 [点击下载](https://pan.baidu.com/s/1ICSTLdOVVyqMbhYS6CnErQ?pwd=RMer) — 提取码：`RMer` |
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🤗 **Hugging Face**--🔗 [ROBOMASTER-2025-LiDAR-ROSBAG](https://huggingface.co/datasets/BreCaspian/ROBOMASTER-2025-LiDAR-ROSBAG) |
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📦 **直接下载 ROSBAG 文件** -- 📌 [`RM-LiDAR-ROSBAG_01.bag`](./RM-LiDAR-ROSBAG_01.bag) — **12 GB** / [`RM-LiDAR-ROSBAG_02.bag`](./RM-LiDAR-ROSBAG_02.bag) — **13 GB** |
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--- |
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## 🧾 ROSBAG 话题信息（`rosbag info` 输出） |
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<details> |
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<summary><strong>RM-LiDAR-ROSBAG_01.bag</strong></summary> |
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``` |
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path: RM-LiDAR-ROSBAG_01.bag |
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version: 2.0 |
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duration: 13:22s (802s) |
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start: May 14 2025 14:31:07 |
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end: May 14 2025 14:44:30 |
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size: 11.2 GB |
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messages: 8037 |
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compression: none |
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topics: /cloudpoints [sensor_msgs/PointCloud2] 8037 msgs |
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``` |
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</details> |
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<details> |
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<summary><strong>RM-LiDAR-ROSBAG_02.bag</strong></summary> |
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``` |
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path: RM-LiDAR-ROSBAG_02.bag |
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version: 2.0 |
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duration: 13:59s (839s) |
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start: May 15 2025 13:31:01 |
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end: May 15 2025 13:45:00 |
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size: 12.9 GB |
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messages: 8399 |
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compression: none |
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topics: /cloudpoints [sensor_msgs/PointCloud2] 8399 msgs |
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``` |
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</details> |
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--- |
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## 📮 联系方式 |
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如需合作、交流或反馈问题，欢迎联系： |
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📧 `yaoyuzhuo6@gmail.com` |
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**Tips :** 十分遗憾的是，该点云数据集所对应的 RGB 视频在录制中由于设备负载较大被异常终止导致视频损坏，当时没能及时发现该问题，后续整理相关数据才发现视频损坏。尽管后续进行了一系列人为视频修复工作，但是效果仍然不佳，大量片段损坏、丢失或马赛克现象严重，**故不对外开源**。 |
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<br/> |
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<p align="right"> |
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—— 2025 年 8 月 7 日 · 立秋 |
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</p> |
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