imestamp, LidarSensorPose] = airSimClient.getLidarData(lidarSensorName, enableLabels, vehicle_name);

figure;
if ~isempty(lidarPointCloud)
    pcshow(lidarPointCloud, MarkerSize=50);
else
    pcshow(pointCloud([0, 0, 0]));
end
title('LiDAR Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow

%% GPU LiDAR sensor data
% Example plots GPU lidar pointcloud with its RGB segmentation colors

gpuLidarSensorName = "gpulidar";
enableLabels = true;
[gpuLidar