mkdir -p ~/kitti_ws
cd ~/kitti_ws
git clone https://github.com/zengy5/KITTI_PointCloud_MAP.git
cd KITTI_PointCloud_MAP
mkdir build
cd build
cmake ..
make

open the kitti.yaml in config, modefy the "bin_file" to yout kitti velodyne file path, and also the "trajectory" to your pose file name. Vel2Cam_R and Vel2Cam_t can be found in kitti calibration files, or just keep the default value.

cd ~/kitti_ws/KITTI_PointCloud_MAP/build/bin
./kitti

The result .pcd can be generated at ~/kitti_ws/KITTI_PointCloud_MAP/0.pcd