Internal repository for projecting a lidar point cloud to a depth map.
cd ~/catkin_ws/src
git clone https://github.com/zaalsabb/lidar2depth.git
cd ..
catkin_make
sudo apt-get install ros-$ROS_DISTRO-cv-bridge ros-$ROS_DISTRO-pcl-conversions ros-$ROS_DISTRO-tf ros-$ROS_DISTRO-message-filters ros-$ROS_DISTRO-image-transport* python-catkin-tools
roslaunch lidar2depth bag2depth.launch save_directory:=DATA_DIR max_cloud_size:=1000000 future_slider:=0.2 depth_rescale:=0.5
Your data should be placed in DATA_DIR, which is set by default to /home/user/datasets/processed.