Reading in scan from pcap...
1. Calculating 3d Points... 

Let's see what the 2000th point in this cloud is...  (-0, -0, 0)
2. Now we will apply this transformation to the look-up table:
     -1       0       0    1500
      0       1       0       0
      0       0      -1 19961.8
      0       0       0       1
Calculating 3d Points of with special transform provided..
And now the 2000th point in the transformed point cloud... (-0, 0, -0)

3. Getting staggered and destaggered images of Reflectivity...
4. Getting staggered and destaggered images of X Coordinate...
In the staggered image, the point at (123, 517) has reflectivity 0 and an x coordinate of 0.
In the destagged image, the point at (123, 517) has reflectivity 0 and an x coordinate of 0.

5. Getting IMU data...
IMU Timestamp: 0 ns
IMU Acceleration: [0, 0, 2.46256e+08] G
IMU Angular Velocity: [2.49464e-45, 1.60283e-42, 0] deg/s