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