code: def load_velodyne_points(filename):
      """Load 3D point cloud from KITTI file format
      (adapted from https://github.com/hunse/kitti)
      """
      points = np.fromfile(filename, dtype=np.float32).reshape(-1, 4)
      points[:, 3] = 1.0  # homogeneous
      return points
  
file_path: gluon-cv/gluoncv/data/kitti/kitti_utils.py
imports: from __future__ import absolute_import, division, print_function
  import os
  from collections import Counter
  import numpy
  import mxnet
label_desc: Use image node_id 1 for calling a global function with example usage: load_velodyne_points(filename) and returns: points