This file contains the implementation of our paper "A Novel Way to Organize 3D LiDAR Point Cloud as 2D Depth Map Height Map and Surface Normal Map" ROBIO 2015. If you find this code useful, please cite our paper. This code is written with C/C++/OpenCV/PCL, which means you have to install relevant packages in advance. This code has been successfully tested on Mac OS, but not guaranteed to work on other OS.