Algorithm 1 LiDAR transposition, projection populating the images

1:$L[3\times N]\leftarrow$ nextFrame  2:$T_{\mathrm{lc}}\leftarrow$ conf  3:$P_{\mathrm{c}}\leftarrow$ conf  4:$L_{\mathrm{pr}}=L\ast T_{\mathrm{lc}}\ast P_{\mathrm{c}}$  5:$L_{idx}=argwhere(L_{pr}>=\{0,0,0\}\&L_{pr}<\{W,H,+\infty \})$  6:$XY[W\times H]\leftarrow 0$  7:$YZ[W\times H]\leftarrow 0$  8:$XZ[W\times H]\leftarrow 0$  9:$XY\left[L_{\mathrm{idx}}\right]=L[L_{\mathrm{idx}},0]$ 10:$YZ\left[L_{\mathrm{idx}}\right]=L[L_{\mathrm{idx}},1]$ 11:$XZ\left[L_{\mathrm{idx}}\right]=L[L_{\mathrm{idx}},2]$