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function ptcloud = readBin(bin_path)
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%% Read
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fid = fopen(bin_path, 'rb'); raw_data = fread(fid, [4 inf], 'single'); fclose(fid);
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points = raw_data(1:3,:)';
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points(:, 3) = points(:, 3) + 1.9; % z in car coord.
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ptcloud = pointCloud(points);
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end % end of function
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