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import argparse
import numpy as np
import os
from tqdm import tqdm
from det3d.datasets.utils.ground_plane_detection import fit_plane_LSE_RANSAC

def load_points(bin_file):
    points = np.fromfile(bin_file, dtype=np.float32).reshape(-1, 4)
    points = np.concatenate((points[:, :3], np.ones((points.shape[0], 1))), axis=1)
    return points