About the velodyne points

[codingCoderIsCodingNow]

Thank you for your nice work bro, but here I need the KITTI_like velodyne points which is denser than Linear array point cloud provided in conslam/sequenceXXX/lidar_pcd, like this. Have we got point cloud like this? If we have, which file is it?

[mac137]

In ConSlam, I used Velodyne Lidar with 16 beams. And the depth map that you're showing comes from projecting a way denser lidar (way more beams than our 16). So the answer is no.
There are methods to increase lidar density using camera images tho (or even without images). If you're interested you can check out "Image-guided depth completion" keyword.