I used ROS as a framework and covered with it the entire processing pipeline from data input to fused data visualization. I implemented the calibration and undistortion of the camera data in Python and utilized the OpenCV library. The lidar data was available in pcap format. For processing the lidar data, I used the ROS Velodyne Package, written in C ++, and adapted it to match our requirements. After processing, I time-synchronized the data streams and projected the lidar’s 3D point cloud onto the camera’s 2D image.