点云分层检测layer_dectection【v2.0】

相较于上一版本：
将问题点云的位置在关联的geojson中进行标记并输出
改进点：执行效率低下，原因单点进行比对，导致时间较慢

from typing import List
import o3d_hdmap.open3d as o3d
import numpy as np
import glob
import time
import ditu.topbind as tb
import os
from loguru import logger
import json
import smpy.utils as smpy_utils
if __name__ == '__main__':
    start = time.time()
    with open("config.json", mode='r') as f:
        jsonStr = f.read()
        config = json.loads(jsonStr)
    prefix_path = config['segment_output_dir']
    paths = glob.glob(f'{prefix_path}/segment_8.pcd', recursive=True)
    # paths = glob.glob(f'{prefix_path}/test_dir/**/*.pcd', recursive=True)
    # paths = glob.glob(f'{prefix_path}/**/*.pcd', recursive=True)
    # paths = glob.iglob('/data/mpcv_lspo_download_data/prod/PLEF35196-2021-11-10-17-48-39/mapping_results/lidar_features_world_opt/**/*.