Visualize depth and color images on ROS rviz as 3d point cloud and gridmap
data/rgb: data_odometry_rgb sequence 0 of kitti dataset (http://www.cvlibs.net/datasets/kitti/)
data/depth: depth map generated from struct2depth. (https://github.com/tensorflow/models/tree/master/research/struct2depth)
data/data_odometry_poses: from http://www.cvlibs.net/datasets/kitti/
After build, modify launch file and run : roslaunch depth2gridmap depthpose2grid.launch