ive, vehicle_name);

figure;
subplot(1, 2, 1);
if ~isempty(activePointCloud)
    pcshow(activePointCloud, color="X", MarkerSize=50);
else
    pcshow(pointCloud([0, 0, 0]));
end
title('Active Echo Sensor Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])

subplot(1, 2, 2);
if ~isempty(passivePointCloud)
    pcshow(passivePointCloud, color="X", MarkerSize=50);
    hold on;
    quiver3(passivePointCloud.Location(:, 1), passivePointCloud.Location(:, 2), passi