The repository convert kitti odometry velodyne date to PCD map

PCL & Eigen is required

Download data and unzip

cd $PATH_TO_DATA
unzip data_odometry_poses.zip
unzip data_odometry_velodyne.zip
unzip data_odometry_calib.zip

run

mkdir build
cd build
cmake ..
make
./kitti2map $PATH_TO_DATA/dataset 07

pcl_viewer ./map.pcd