KITTI_util provides tools for the famous KITTI Benchmark Suite. Currently, it only supports the Visual Odometry section, but you are encouraged to add extensions.

You can clone KITTI_util as git submodule in your application with

git submodule add https://github.com/sebdi/KITTI_util KITTI_util

To receive a pcl::PointCloud call getPointCloudByIndex(point_cloud,index) method, e.g.:

    pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud(new pcl::PointCloud<pcl::PointXYZ>);
    kitti.getPointCloudByIndex(point_cloud,index);