this package is for converting rosbag with lidar pcd to dataset with kitti format.
Please make changes to lines 112-115 for your own dataset. Line 112 is the path where the original rosbag with lidar frames. Line 113 is the path where you want to put the generated bin files. Line 114 is where you want to save the timestamp file. Line 115 is the topic of lidar frame in the rosbag.