vePointCloud.Location(:, 3),...
        passivePointCloud.Normal(:, 1), passivePointCloud.Normal(:, 2), passivePointCloud.Normal(:, 3), 2);
    hold off
else
    pcshow(pointCloud([0, 0, 0]));
end
title('Passive Echo Sensor Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow

%% LiDAR sensor data
% Example plots lidar pointcloud and getting the groundtruth labels

lidarSensorName = "lidar";
enableLabels = true;
[lidarPointCloud, lidarLabels, LidarT