Here are tools for kitti dataset raw data. jump to raw data
the kitti raw data construction: kitti -> 2011_09_26 -> 2011_09_26_drive_XXXX_sync
pip install -r requirements.txt
Here is a demo to use. You can code your own code for use.
Because of my research using ktiii`s gray image and velo data, I try to convert velo data to cam0 and save to png in depth_00. The point png is not suitable for my research, I try to completion the point png to depth png in depth_01. I try to read XML and covert to label, which is consist of class name and xywh. You can show the label in gray image with the function draw2D.