text: #ifndef _READ_BINARY_LIDAR_DATA_H
  #define _READ_BINARY_LIDAR_DATA_H
  
  
  #include <cstdint>
  #include <cstdio>
  
  void read_binary_lidar_data(std::string filename, uint32_t &width, uint32_t &height, int32_t* &data)
  {
      FILE* FP = fopen(filename.c_str(), "rb");
      int32_t result = 0;
  
      result = fread(&width, sizeof(uint32_t), 1, FP);
      result = fread(&height, sizeof(uint32_t), 1, FP);
  
      data = new int32_t[width*height];
  
      result = fread(data, sizeof(int32_t), width*height, FP);
  
      fclose(FP);
  
  }
  
  #endif	// _READ_BINARY_LIDAR_DATA_H