Michael

I've created a pull request because I figured it would be the politest way to make a suggestion, and it allows you to reject my changes/additions if you like.

I've made a minor code-styling change to the While loop in `LiDAR.py` to make the condition more explicit, and I've also added a parsing/visualizing script that Nevin shared with me, which he found online (I don't know the URL, so I figured I'd add it here before we loose it) -- it might come in handy.