diff --git a/client.go b/client.go
index 1262342..66a4c35 100644
--- a/client.go
+++ b/client.go
@@ -17,11 +17,11 @@ type UDPConn interface {
 
 // Client is a VLP-16 client.
 type Client struct {
-	conn                UDPConn
-	senderAddr          *net.UDPAddr
-	buf                 [lengthOfPacket]byte
-	packet              Packet
-	sphericalPointCloud SphericalPointCloud
+	conn       UDPConn
+	senderAddr *net.UDPAddr
+	buf        [lengthOfPacket]byte
+	packet     Packet
+	pointCloud PointCloud
 }
 
 // NewClient returns a new VLP-16 client with the provided UDP connection.
@@ -44,7 +44,7 @@ func (c *Client) Receive(ctx context.Context) error {
 		return xerrors.Errorf("VLP-16 client: receive: unexpected packet length: %d (expected %d)", n, lengthOfPacket)
 	}
 	c.packet.unmarshal(&c.buf)
-	c.sphericalPointCloud.UnmarshalPacket(&c.packet)
+	c.pointCloud.UnmarshalPacket(&c.packet)
 	return nil
 }
 
@@ -63,9 +63,9 @@ func (c *Client) Packet() *Packet {
 	return &c.packet
 }
 
-// Packet returns the last received VLP-16 packet decoded as a spherical point cloud.
-func (c *Client) SphericalPointCloud() *SphericalPointCloud {
-	return &c.sphericalPointCloud
+// PointCloud returns the point cloud representation of the last received packet.
+func (c *Client) PointCloud() *PointCloud {
+	return &c.pointCloud
 }
 
 // Close the client's underlying UDP connection.
diff --git a/client_test.go b/client_test.go
index 89dfe39..e2a2ef5 100644
--- a/client_test.go
+++ b/client_test.go
@@ -41,5 +41,5 @@ func TestClient_Receive(t *testing.T) {
 	require.NoError(t, client.Receive(ctx))
 	require.Equal(t, exampleData, client.RawPacket())
 	require.Equal(t, examplePacket(), client.Packet())
-	require.Equal(t, exampleSphericalPointCloud(), client.SphericalPointCloud())
+	requirePointCloudEqual(t, exampleSphericalPointCloud(), client.PointCloud())
 }
diff --git a/example_test.go b/example_test.go
index 3e03a5f..aca2a35 100644
--- a/example_test.go
+++ b/example_test.go
@@ -1,5 +1,9 @@
 package vlp16
 
+import (
+	"github.com/einride/unit"
+)
+
 func exampleData() *[lengthOfPacket]byte {
 	return &[lengthOfPacket]byte{
 		0xff, 0xee, 0x66, 0x28, 0x0, 0x0, 0x2, 0xff, 0x2, 0x3, 0x0, 0x0, 0x3, 0x10, 0x3, 0x4b, 0x0, 0x0, 0x2,
@@ -69,14 +73,15 @@ func exampleData() *[lengthOfPacket]byte {
 	}
 }
 
-func examplePacketLastReflection() *Packet {
+func examplePacket() *Packet {
 	return &Packet{
 		Blocks: [12]Block{
 			{
 				Azimuth: 0x2866,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ff, Reflectivity: 0x3}, // Second valid point, last return
+					{Distance: 0x2ff, Reflectivity: 0x3},
 					{Distance: 0x0, Reflectivity: 0x3},
 					{Distance: 0x310, Reflectivity: 0x4b},
 					{Distance: 0x0, Reflectivity: 0x2},
@@ -90,7 +95,7 @@ func examplePacketLastReflection() *Packet {
 					{Distance: 0x2a9, Reflectivity: 0x23},
 					{Distance: 0x2c5, Reflectivity: 0x32},
 					{Distance: 0x2c3, Reflectivity: 0x1d},
-					{Distance: 0x2d9, Reflectivity: 0x4a}, // 16th valid point, Laser ID 15
+					{Distance: 0x2d9, Reflectivity: 0x4a},
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x30f, Reflectivity: 0x7},
 					{Distance: 0x0, Reflectivity: 0x2},
@@ -106,16 +111,17 @@ func examplePacketLastReflection() *Packet {
 					{Distance: 0x2b5, Reflectivity: 0x26},
 					{Distance: 0x2d6, Reflectivity: 0x39},
 					{Distance: 0x2c6, Reflectivity: 0x18},
-					{Distance: 0x2d3, Reflectivity: 0x32}, // 32nd valid point, Laser ID 31
+					{Distance: 0x2d3, Reflectivity: 0x32},
 				},
 			},
 			{
 				Azimuth: 0x288e,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x0, Reflectivity: 0x64},
 					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x318, Reflectivity: 0x4c}, // 36th valid point, not last return
+					{Distance: 0x318, Reflectivity: 0x4c},
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x2ad, Reflectivity: 0x3e},
 					{Distance: 0x0, Reflectivity: 0x3},
@@ -148,6 +154,7 @@ func examplePacketLastReflection() *Packet {
 			},
 			{
 				Azimuth: 0x28b6,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x31c, Reflectivity: 0x45},
@@ -185,6 +192,7 @@ func examplePacketLastReflection() *Packet {
 			},
 			{
 				Azimuth: 0x28de,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x321, Reflectivity: 0x41},
@@ -222,6 +230,7 @@ func examplePacketLastReflection() *Packet {
 			},
 			{
 				Azimuth: 0x2906,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x322, Reflectivity: 0x43},
@@ -259,6 +268,7 @@ func examplePacketLastReflection() *Packet {
 			},
 			{
 				Azimuth: 0x292e,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x32b, Reflectivity: 0x41},
@@ -296,6 +306,7 @@ func examplePacketLastReflection() *Packet {
 			},
 			{
 				Azimuth: 0x2956,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x331, Reflectivity: 0x3d},
@@ -333,6 +344,7 @@ func examplePacketLastReflection() *Packet {
 			},
 			{
 				Azimuth: 0x297d,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x333, Reflectivity: 0x3d},
@@ -370,6 +382,7 @@ func examplePacketLastReflection() *Packet {
 			},
 			{
 				Azimuth: 0x29a5,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x33a, Reflectivity: 0x38},
@@ -407,6 +420,7 @@ func examplePacketLastReflection() *Packet {
 			},
 			{
 				Azimuth: 0x29cc,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x339, Reflectivity: 0x3c},
@@ -444,6 +458,7 @@ func examplePacketLastReflection() *Packet {
 			},
 			{
 				Azimuth: 0x29f5,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x344, Reflectivity: 0x3a},
@@ -481,6 +496,7 @@ func examplePacketLastReflection() *Packet {
 			},
 			{
 				Azimuth: 0x2a1d,
+				Flag:    0xeeff,
 				Channels: [32]Channel{
 					{Distance: 0x0, Reflectivity: 0x2},
 					{Distance: 0x346, Reflectivity: 0x38},
@@ -518,6057 +534,2345 @@ func examplePacketLastReflection() *Packet {
 			},
 		},
 		Timestamp:  0x9eea6b9b,
-		ReturnMode: 0x39,
+		ReturnMode: 0x37,
 		ProductID:  0x22,
 	}
 }
 
-func examplePacket() *Packet {
-	return &Packet{
-		Blocks: [12]Block{
+func exampleSphericalPointCloud() *PointCloud {
+	return &PointCloud{
+		Azimuths: [ColumnsPerPacket]unit.Angle{
+			103.42 * unit.Degree,
+			103.62 * unit.Degree,
+			103.82 * unit.Degree,
+			104.02 * unit.Degree,
+			104.22 * unit.Degree,
+			104.42 * unit.Degree,
+			104.62 * unit.Degree,
+			104.82 * unit.Degree,
+			105.02 * unit.Degree,
+			105.22 * unit.Degree,
+			105.42 * unit.Degree,
+			105.62 * unit.Degree,
+			105.82 * unit.Degree,
+			106.01 * unit.Degree,
+			106.21 * unit.Degree,
+			106.41 * unit.Degree,
+			106.61 * unit.Degree,
+			106.8 * unit.Degree,
+			107 * unit.Degree,
+			107.2 * unit.Degree,
+			107.41 * unit.Degree,
+			107.61 * unit.Degree,
+			107.81 * unit.Degree,
+			108.01 * unit.Degree,
+		},
+		Points: [BlocksPerPacket * ChannelsPerBlock]Point{
 			{
-				Azimuth: 0x2866,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ff, Reflectivity: 0x3},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x310, Reflectivity: 0x4b},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ac, Reflectivity: 0x39},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2bc, Reflectivity: 0x38},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2bd, Reflectivity: 0x45},
-					{Distance: 0x2be, Reflectivity: 0x0},
-					{Distance: 0x2c8, Reflectivity: 0x57},
-					{Distance: 0x2a9, Reflectivity: 0x23},
-					{Distance: 0x2c5, Reflectivity: 0x32},
-					{Distance: 0x2c3, Reflectivity: 0x1d},
-					{Distance: 0x2d9, Reflectivity: 0x4a},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x30f, Reflectivity: 0x7},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x30e, Reflectivity: 0x46},
-					{Distance: 0x0, Reflectivity: 0x4},
-					{Distance: 0x2ac, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c4, Reflectivity: 0x41},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ba, Reflectivity: 0x38},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c6, Reflectivity: 0x3e},
-					{Distance: 0x2b5, Reflectivity: 0x26},
-					{Distance: 0x2d6, Reflectivity: 0x39},
-					{Distance: 0x2c6, Reflectivity: 0x18},
-					{Distance: 0x2d3, Reflectivity: 0x32},
-				},
+				Distance:     0,
+				Column:       0,
+				Row:          0,
+				Reflectivity: 2,
 			},
 			{
-				Azimuth: 0x288e,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x0, Reflectivity: 0x64},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x318, Reflectivity: 0x4c},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ad, Reflectivity: 0x3e},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c4, Reflectivity: 0x4f},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2c1, Reflectivity: 0x41},
-					{Distance: 0x2dc, Reflectivity: 0x0},
-					{Distance: 0x2cc, Reflectivity: 0x57},
-					{Distance: 0x2b8, Reflectivity: 0x25},
-					{Distance: 0x2d7, Reflectivity: 0x46},
-					{Distance: 0x2f9, Reflectivity: 0x21},
-					{Distance: 0x2d6, Reflectivity: 0x44},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x31a, Reflectivity: 0x3c},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x31c, Reflectivity: 0x4c},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ac, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2ca, Reflectivity: 0x5b},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c7, Reflectivity: 0x54},
-					{Distance: 0x2dc, Reflectivity: 0x0},
-					{Distance: 0x2c9, Reflectivity: 0x63},
-					{Distance: 0x2b7, Reflectivity: 0x23},
-					{Distance: 0x2e1, Reflectivity: 0x55},
-					{Distance: 0x303, Reflectivity: 0x25},
-					{Distance: 0x2d6, Reflectivity: 0x51},
-				},
+				Distance:     1.534,
+				Column:       0,
+				Row:          8,
+				Reflectivity: 3,
 			},
 			{
-				Azimuth: 0x28b6,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x31c, Reflectivity: 0x45},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x31a, Reflectivity: 0x54},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ae, Reflectivity: 0x39},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c2, Reflectivity: 0x4f},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c7, Reflectivity: 0x53},
-					{Distance: 0x2c8, Reflectivity: 0x0},
-					{Distance: 0x2c9, Reflectivity: 0x57},
-					{Distance: 0x2b5, Reflectivity: 0x24},
-					{Distance: 0x2d3, Reflectivity: 0x48},
-					{Distance: 0x308, Reflectivity: 0x33},
-					{Distance: 0x2dd, Reflectivity: 0x4c},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x31f, Reflectivity: 0x41},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x31a, Reflectivity: 0x4b},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2b4, Reflectivity: 0x34},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c4, Reflectivity: 0x4d},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2c6, Reflectivity: 0x49},
-					{Distance: 0x2d0, Reflectivity: 0x0},
-					{Distance: 0x2cb, Reflectivity: 0x59},
-					{Distance: 0x2bc, Reflectivity: 0x27},
-					{Distance: 0x2d8, Reflectivity: 0x43},
-					{Distance: 0x312, Reflectivity: 0x3b},
-					{Distance: 0x2df, Reflectivity: 0x44},
-				},
+				Distance:     0,
+				Column:       0,
+				Row:          1,
+				Reflectivity: 3,
 			},
 			{
-				Azimuth: 0x28de,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x321, Reflectivity: 0x41},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x31c, Reflectivity: 0x51},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2b6, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c8, Reflectivity: 0x3f},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2c3, Reflectivity: 0x41},
-					{Distance: 0x2ce, Reflectivity: 0x0},
-					{Distance: 0x2cf, Reflectivity: 0x44},
-					{Distance: 0x2c1, Reflectivity: 0x2d},
-					{Distance: 0x2d0, Reflectivity: 0x3a},
-					{Distance: 0x319, Reflectivity: 0x2e},
-					{Distance: 0x2dd, Reflectivity: 0x38},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x327, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x320, Reflectivity: 0x51},
-					{Distance: 0x0, Reflectivity: 0x4},
-					{Distance: 0x2b4, Reflectivity: 0x39},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c9, Reflectivity: 0x3c},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2c1, Reflectivity: 0x3f},
-					{Distance: 0x2ce, Reflectivity: 0x3},
-					{Distance: 0x2cd, Reflectivity: 0x47},
-					{Distance: 0x2c6, Reflectivity: 0x33},
-					{Distance: 0x2d2, Reflectivity: 0x3f},
-					{Distance: 0x321, Reflectivity: 0x30},
-					{Distance: 0x2d5, Reflectivity: 0x38},
-				},
+				Distance:     1.568,
+				Column:       0,
+				Row:          9,
+				Reflectivity: 75,
 			},
 			{
-				Azimuth: 0x2906,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x322, Reflectivity: 0x43},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x328, Reflectivity: 0x48},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2b5, Reflectivity: 0x3e},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c2, Reflectivity: 0x4b},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2c2, Reflectivity: 0x49},
-					{Distance: 0x0, Reflectivity: 0x64},
-					{Distance: 0x2c5, Reflectivity: 0x49},
-					{Distance: 0x2c4, Reflectivity: 0x40},
-					{Distance: 0x2db, Reflectivity: 0x46},
-					{Distance: 0x31a, Reflectivity: 0x3e},
-					{Distance: 0x2d3, Reflectivity: 0x3f},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x325, Reflectivity: 0x41},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x328, Reflectivity: 0x48},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ba, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2be, Reflectivity: 0x4f},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2c4, Reflectivity: 0x4e},
-					{Distance: 0x2d1, Reflectivity: 0x29},
-					{Distance: 0x2c7, Reflectivity: 0x4b},
-					{Distance: 0x2c4, Reflectivity: 0x40},
-					{Distance: 0x2d2, Reflectivity: 0x3e},
-					{Distance: 0x320, Reflectivity: 0x3e},
-					{Distance: 0x2d7, Reflectivity: 0x3b},
-				},
+				Distance:     0,
+				Column:       0,
+				Row:          2,
+				Reflectivity: 2,
 			},
 			{
-				Azimuth: 0x292e,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x32b, Reflectivity: 0x41},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x324, Reflectivity: 0x4b},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2bf, Reflectivity: 0x40},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c0, Reflectivity: 0x3f},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2c3, Reflectivity: 0x41},
-					{Distance: 0x2d1, Reflectivity: 0x2a},
-					{Distance: 0x2ca, Reflectivity: 0x3c},
-					{Distance: 0x2c4, Reflectivity: 0x43},
-					{Distance: 0x2cd, Reflectivity: 0x35},
-					{Distance: 0x318, Reflectivity: 0x3b},
-					{Distance: 0x2dd, Reflectivity: 0x35},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x32f, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x326, Reflectivity: 0x4c},
-					{Distance: 0x0, Reflectivity: 0x4},
-					{Distance: 0x2be, Reflectivity: 0x3b},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2c6, Reflectivity: 0x35},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2c5, Reflectivity: 0x3c},
-					{Distance: 0x2d1, Reflectivity: 0x2d},
-					{Distance: 0x2cc, Reflectivity: 0x3c},
-					{Distance: 0x2ca, Reflectivity: 0x43},
-					{Distance: 0x2cf, Reflectivity: 0x31},
-					{Distance: 0x310, Reflectivity: 0x12},
-					{Distance: 0x2da, Reflectivity: 0x30},
-				},
-			},
-			{
-				Azimuth: 0x2956,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x331, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x330, Reflectivity: 0x4c},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2bd, Reflectivity: 0x40},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2ca, Reflectivity: 0x33},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2c3, Reflectivity: 0x3a},
-					{Distance: 0x2d1, Reflectivity: 0x3f},
-					{Distance: 0x2ce, Reflectivity: 0x3c},
-					{Distance: 0x2d1, Reflectivity: 0x4c},
-					{Distance: 0x2de, Reflectivity: 0x35},
-					{Distance: 0x2e5, Reflectivity: 0x6},
-					{Distance: 0x2db, Reflectivity: 0x31},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x32d, Reflectivity: 0x3f},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x334, Reflectivity: 0x4f},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2c1, Reflectivity: 0x40},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2ce, Reflectivity: 0x3b},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2c9, Reflectivity: 0x3c},
-					{Distance: 0x2d5, Reflectivity: 0x3c},
-					{Distance: 0x2ce, Reflectivity: 0x39},
-					{Distance: 0x2d0, Reflectivity: 0x4e},
-					{Distance: 0x2e0, Reflectivity: 0x38},
-					{Distance: 0x2e9, Reflectivity: 0x8},
-					{Distance: 0x2dd, Reflectivity: 0x35},
-				},
-			},
-			{
-				Azimuth: 0x297d,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x333, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x334, Reflectivity: 0x51},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2c5, Reflectivity: 0x40},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2cc, Reflectivity: 0x45},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2d3, Reflectivity: 0x3d},
-					{Distance: 0x2db, Reflectivity: 0x28},
-					{Distance: 0x2d1, Reflectivity: 0x45},
-					{Distance: 0x2cf, Reflectivity: 0x53},
-					{Distance: 0x2e0, Reflectivity: 0x43},
-					{Distance: 0x2e5, Reflectivity: 0x4},
-					{Distance: 0x2e3, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x339, Reflectivity: 0x3c},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x32e, Reflectivity: 0x4c},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2c9, Reflectivity: 0x45},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2cc, Reflectivity: 0x57},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2d2, Reflectivity: 0x4e},
-					{Distance: 0x2de, Reflectivity: 0x13},
-					{Distance: 0x2d8, Reflectivity: 0x54},
-					{Distance: 0x2d3, Reflectivity: 0x53},
-					{Distance: 0x2e4, Reflectivity: 0x55},
-					{Distance: 0x2fc, Reflectivity: 0x5},
-					{Distance: 0x2e8, Reflectivity: 0x4b},
-				},
-			},
-			{
-				Azimuth: 0x29a5,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x33a, Reflectivity: 0x38},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x336, Reflectivity: 0x51},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2c9, Reflectivity: 0x45},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2ce, Reflectivity: 0x51},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2cd, Reflectivity: 0x58},
-					{Distance: 0x2dd, Reflectivity: 0x23},
-					{Distance: 0x2d9, Reflectivity: 0x55},
-					{Distance: 0x2d8, Reflectivity: 0x4e},
-					{Distance: 0x2dd, Reflectivity: 0x52},
-					{Distance: 0x0, Reflectivity: 0x64},
-					{Distance: 0x2ea, Reflectivity: 0x52},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x33a, Reflectivity: 0x3a},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x33c, Reflectivity: 0x4f},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2c7, Reflectivity: 0x4b},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2d4, Reflectivity: 0x4b},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2cf, Reflectivity: 0x51},
-					{Distance: 0x2af, Reflectivity: 0x19},
-					{Distance: 0x2da, Reflectivity: 0x57},
-					{Distance: 0x2da, Reflectivity: 0x4b},
-					{Distance: 0x2e2, Reflectivity: 0x46},
-					{Distance: 0x309, Reflectivity: 0x9},
-					{Distance: 0x2e2, Reflectivity: 0x4b},
-				},
-			},
-			{
-				Azimuth: 0x29cc,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x339, Reflectivity: 0x3c},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x344, Reflectivity: 0x4b},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2c9, Reflectivity: 0x47},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2d2, Reflectivity: 0x3c},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2d3, Reflectivity: 0x3d},
-					{Distance: 0x2d8, Reflectivity: 0x50},
-					{Distance: 0x2d2, Reflectivity: 0x3b},
-					{Distance: 0x2da, Reflectivity: 0x4b},
-					{Distance: 0x2e5, Reflectivity: 0x3f},
-					{Distance: 0x311, Reflectivity: 0x8},
-					{Distance: 0x2de, Reflectivity: 0x3b},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x33e, Reflectivity: 0x3a},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x344, Reflectivity: 0x4c},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ca, Reflectivity: 0x38},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2cd, Reflectivity: 0x3c},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2d5, Reflectivity: 0x3d},
-					{Distance: 0x2e1, Reflectivity: 0x3f},
-					{Distance: 0x2d7, Reflectivity: 0x48},
-					{Distance: 0x2d6, Reflectivity: 0x49},
-					{Distance: 0x2e3, Reflectivity: 0x36},
-					{Distance: 0x30f, Reflectivity: 0x7},
-					{Distance: 0x2e5, Reflectivity: 0x3e},
-				},
-			},
-			{
-				Azimuth: 0x29f5,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x344, Reflectivity: 0x3a},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x340, Reflectivity: 0x4c},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ce, Reflectivity: 0x30},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2ce, Reflectivity: 0x32},
-					{Distance: 0x0, Reflectivity: 0x1},
-					{Distance: 0x2d8, Reflectivity: 0x35},
-					{Distance: 0x2e9, Reflectivity: 0x3c},
-					{Distance: 0x2d4, Reflectivity: 0x39},
-					{Distance: 0x2d9, Reflectivity: 0x29},
-					{Distance: 0x2e0, Reflectivity: 0x35},
-					{Distance: 0x307, Reflectivity: 0x4},
-					{Distance: 0x2e7, Reflectivity: 0x36},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x345, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x346, Reflectivity: 0x48},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2cc, Reflectivity: 0x2d},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2d6, Reflectivity: 0x35},
-					{Distance: 0x0, Reflectivity: 0x4d},
-					{Distance: 0x2d4, Reflectivity: 0x36},
-					{Distance: 0x2ea, Reflectivity: 0x3b},
-					{Distance: 0x2df, Reflectivity: 0x3f},
-					{Distance: 0x2d5, Reflectivity: 0x15},
-					{Distance: 0x2e2, Reflectivity: 0x32},
-					{Distance: 0x2ff, Reflectivity: 0x5},
-					{Distance: 0x2eb, Reflectivity: 0x38},
-				},
-			},
-			{
-				Azimuth: 0x2a1d,
-				Flag:    0xeeff,
-				Channels: [32]Channel{
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x346, Reflectivity: 0x38},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x34a, Reflectivity: 0x4b},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2cd, Reflectivity: 0x33},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2da, Reflectivity: 0x36},
-					{Distance: 0x2f4, Reflectivity: 0x28},
-					{Distance: 0x2d5, Reflectivity: 0x3c},
-					{Distance: 0x2e4, Reflectivity: 0x3b},
-					{Distance: 0x2de, Reflectivity: 0x3c},
-					{Distance: 0x2dd, Reflectivity: 0x41},
-					{Distance: 0x2ea, Reflectivity: 0x35},
-					{Distance: 0x301, Reflectivity: 0x5},
-					{Distance: 0x2e9, Reflectivity: 0x35},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x344, Reflectivity: 0x3a},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x34e, Reflectivity: 0x48},
-					{Distance: 0x0, Reflectivity: 0x2},
-					{Distance: 0x2ce, Reflectivity: 0x3d},
-					{Distance: 0x0, Reflectivity: 0x3},
-					{Distance: 0x2da, Reflectivity: 0x39},
-					{Distance: 0x2c4, Reflectivity: 0x29},
-					{Distance: 0x2dc, Reflectivity: 0x36},
-					{Distance: 0x2d5, Reflectivity: 0x28},
-					{Distance: 0x2dd, Reflectivity: 0x47},
-					{Distance: 0x2bf, Reflectivity: 0x2e},
-					{Distance: 0x2ef, Reflectivity: 0x38},
-					{Distance: 0x304, Reflectivity: 0x5},
-					{Distance: 0x2eb, Reflectivity: 0x3a},
-				},
-			},
-		},
-		Timestamp:  0x9eea6b9b,
-		ReturnMode: 0x37,
-		ProductID:  0x22,
-	}
-}
-
-func exampleSphericalPointCloud() *SphericalPointCloud {
-	return &SphericalPointCloud{
-		SphericalPoints: [BlocksPerPacket * ChannelsPerBlock]SphericalPoint{
-			{
-				Distance:     0,
-				Azimuth:      1.8050195124125357,
-				Elevation:    -0.2617993877991494,
-				Reflectivity: 2,
-				TimingOffset: 0,
-			},
-			{
-				Distance:     1.534,
-				Azimuth:      1.8050195124125357,
-				Elevation:    0.017453292519943295,
-				Reflectivity: 3,
-				TimingOffset: 2.304,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8050195124125357,
-				Elevation:    -0.22689280275926285,
-				Reflectivity: 3,
-				TimingOffset: 4.608,
-			},
-			{
-				Distance:     1.568,
-				Azimuth:      1.8050195124125357,
-				Elevation:    0.05235987755982988,
-				Reflectivity: 75,
-				TimingOffset: 6.911999999999999,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8050195124125357,
-				Elevation:    -0.19198621771937624,
-				Reflectivity: 2,
-				TimingOffset: 9.216,
-			},
-			{
-				Distance:     1.368,
-				Azimuth:      1.8050195124125357,
-				Elevation:    0.08726646259971647,
-				Reflectivity: 57,
-				TimingOffset: 11.52,
+				Distance:     1.368,
+				Column:       0,
+				Row:          10,
+				Reflectivity: 57,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.8050195124125357,
-				Elevation:    -0.15707963267948966,
+				Column:       0,
+				Row:          3,
 				Reflectivity: 3,
-				TimingOffset: 13.823999999999998,
 			},
 			{
 				Distance:     1.4000000000000001,
-				Azimuth:      1.8050195124125357,
-				Elevation:    0.12217304763960307,
+				Column:       0,
+				Row:          11,
 				Reflectivity: 56,
-				TimingOffset: 16.128,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.8050195124125357,
-				Elevation:    -0.12217304763960307,
+				Column:       0,
+				Row:          4,
 				Reflectivity: 1,
-				TimingOffset: 18.432,
 			},
 			{
 				Distance:     1.4020000000000001,
-				Azimuth:      1.8050195124125357,
-				Elevation:    0.15707963267948966,
+				Column:       0,
+				Row:          12,
 				Reflectivity: 69,
-				TimingOffset: 20.735999999999997,
 			},
 			{
 				Distance:     1.4040000000000001,
-				Azimuth:      1.8050195124125357,
-				Elevation:    -0.08726646259971647,
+				Column:       0,
+				Row:          5,
 				Reflectivity: 0,
-				TimingOffset: 23.04,
 			},
 			{
 				Distance:     1.424,
-				Azimuth:      1.8050195124125357,
-				Elevation:    0.19198621771937624,
+				Column:       0,
+				Row:          13,
 				Reflectivity: 87,
-				TimingOffset: 25.343999999999998,
 			},
 			{
 				Distance:     1.362,
-				Azimuth:      1.8050195124125357,
-				Elevation:    -0.05235987755982988,
+				Column:       0,
+				Row:          6,
 				Reflectivity: 35,
-				TimingOffset: 27.647999999999996,
 			},
 			{
 				Distance:     1.418,
-				Azimuth:      1.8050195124125357,
-				Elevation:    0.22689280275926285,
+				Column:       0,
+				Row:          14,
 				Reflectivity: 50,
-				TimingOffset: 29.951999999999998,
 			},
 			{
 				Distance:     1.414,
-				Azimuth:      1.8050195124125357,
-				Elevation:    -0.017453292519943295,
+				Column:       0,
+				Row:          7,
 				Reflectivity: 29,
-				TimingOffset: 32.256,
 			},
 			{
 				Distance:     1.458,
-				Azimuth:      1.8050195124125357,
-				Elevation:    0.2617993877991494,
+				Column:       0,
+				Row:          15,
 				Reflectivity: 74,
-				TimingOffset: 34.559999999999995,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.808510170916524,
-				Elevation:    -0.2617993877991494,
+				Column:       1,
+				Row:          0,
 				Reflectivity: 2,
-				TimingOffset: 55.296,
 			},
 			{
 				Distance:     1.566,
-				Azimuth:      1.808510170916524,
-				Elevation:    0.017453292519943295,
+				Column:       1,
+				Row:          8,
 				Reflectivity: 7,
-				TimingOffset: 57.6,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.808510170916524,
-				Elevation:    -0.22689280275926285,
+				Column:       1,
+				Row:          1,
 				Reflectivity: 2,
-				TimingOffset: 59.903999999999996,
 			},
 			{
 				Distance:     1.564,
-				Azimuth:      1.808510170916524,
-				Elevation:    0.05235987755982988,
+				Column:       1,
+				Row:          9,
 				Reflectivity: 70,
-				TimingOffset: 62.208,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.808510170916524,
-				Elevation:    -0.19198621771937624,
+				Column:       1,
+				Row:          2,
 				Reflectivity: 4,
-				TimingOffset: 64.512,
 			},
 			{
 				Distance:     1.368,
-				Azimuth:      1.808510170916524,
-				Elevation:    0.08726646259971647,
+				Column:       1,
+				Row:          10,
 				Reflectivity: 61,
-				TimingOffset: 66.816,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.808510170916524,
-				Elevation:    -0.15707963267948966,
+				Column:       1,
+				Row:          3,
 				Reflectivity: 3,
-				TimingOffset: 69.12,
 			},
 			{
 				Distance:     1.416,
-				Azimuth:      1.808510170916524,
-				Elevation:    0.12217304763960307,
+				Column:       1,
+				Row:          11,
 				Reflectivity: 65,
-				TimingOffset: 71.424,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.808510170916524,
-				Elevation:    -0.12217304763960307,
+				Column:       1,
+				Row:          4,
 				Reflectivity: 2,
-				TimingOffset: 73.728,
 			},
 			{
 				Distance:     1.3960000000000001,
-				Azimuth:      1.808510170916524,
-				Elevation:    0.15707963267948966,
+				Column:       1,
+				Row:          12,
 				Reflectivity: 56,
-				TimingOffset: 76.032,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.808510170916524,
-				Elevation:    -0.08726646259971647,
+				Column:       1,
+				Row:          5,
 				Reflectivity: 3,
-				TimingOffset: 78.336,
 			},
 			{
 				Distance:     1.42,
-				Azimuth:      1.808510170916524,
-				Elevation:    0.19198621771937624,
+				Column:       1,
+				Row:          13,
 				Reflectivity: 62,
-				TimingOffset: 80.64,
 			},
 			{
 				Distance:     1.3860000000000001,
-				Azimuth:      1.808510170916524,
-				Elevation:    -0.05235987755982988,
+				Column:       1,
+				Row:          6,
 				Reflectivity: 38,
-				TimingOffset: 82.94399999999999,
 			},
 			{
 				Distance:     1.452,
-				Azimuth:      1.808510170916524,
-				Elevation:    0.22689280275926285,
+				Column:       1,
+				Row:          14,
 				Reflectivity: 57,
-				TimingOffset: 85.24799999999999,
 			},
 			{
 				Distance:     1.42,
-				Azimuth:      1.808510170916524,
-				Elevation:    -0.017453292519943295,
+				Column:       1,
+				Row:          7,
 				Reflectivity: 24,
-				TimingOffset: 87.55199999999999,
 			},
 			{
 				Distance:     1.446,
-				Azimuth:      1.808510170916524,
-				Elevation:    0.2617993877991494,
+				Column:       1,
+				Row:          15,
 				Reflectivity: 50,
-				TimingOffset: 89.856,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.812000829420513,
-				Elevation:    -0.2617993877991494,
+				Column:       2,
+				Row:          0,
 				Reflectivity: 2,
-				TimingOffset: 110.592,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.812000829420513,
-				Elevation:    0.017453292519943295,
+				Column:       2,
+				Row:          8,
 				Reflectivity: 100,
-				TimingOffset: 112.896,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.812000829420513,
-				Elevation:    -0.22689280275926285,
+				Column:       2,
+				Row:          1,
 				Reflectivity: 3,
-				TimingOffset: 115.2,
 			},
 			{
 				Distance:     1.584,
-				Azimuth:      1.812000829420513,
-				Elevation:    0.05235987755982988,
+				Column:       2,
+				Row:          9,
 				Reflectivity: 76,
-				TimingOffset: 117.50399999999999,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.812000829420513,
-				Elevation:    -0.19198621771937624,
+				Column:       2,
+				Row:          2,
 				Reflectivity: 2,
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-				Elevation:    -0.2617993877991494,
-				Reflectivity: 2,
-				TimingOffset: 1050.624,
-			},
-			{
-				Distance:     1.6600000000000001,
-				Azimuth:      1.8709929581379214,
-				Elevation:    0.017453292519943295,
-				Reflectivity: 58,
-				TimingOffset: 1052.928,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8709929581379214,
-				Elevation:    -0.22689280275926285,
-				Reflectivity: 2,
-				TimingOffset: 1055.232,
-			},
-			{
-				Distance:     1.672,
-				Azimuth:      1.8709929581379214,
-				Elevation:    0.05235987755982988,
-				Reflectivity: 76,
-				TimingOffset: 1057.536,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8709929581379214,
-				Elevation:    -0.19198621771937624,
-				Reflectivity: 2,
-				TimingOffset: 1059.84,
-			},
-			{
-				Distance:     1.428,
-				Azimuth:      1.8709929581379214,
-				Elevation:    0.08726646259971647,
-				Reflectivity: 56,
-				TimingOffset: 1062.144,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8709929581379214,
-				Elevation:    -0.15707963267948966,
-				Reflectivity: 3,
-				TimingOffset: 1064.448,
-			},
-			{
-				Distance:     1.434,
-				Azimuth:      1.8709929581379214,
-				Elevation:    0.12217304763960307,
-				Reflectivity: 60,
-				TimingOffset: 1066.752,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8709929581379214,
-				Elevation:    -0.12217304763960307,
-				Reflectivity: 1,
-				TimingOffset: 1069.056,
-			},
-			{
-				Distance:     1.45,
-				Azimuth:      1.8709929581379214,
-				Elevation:    0.15707963267948966,
-				Reflectivity: 61,
-				TimingOffset: 1071.3600000000001,
-			},
-			{
-				Distance:     1.474,
-				Azimuth:      1.8709929581379214,
-				Elevation:    -0.08726646259971647,
-				Reflectivity: 63,
-				TimingOffset: 1073.664,
-			},
-			{
-				Distance:     1.454,
-				Azimuth:      1.8709929581379214,
-				Elevation:    0.19198621771937624,
-				Reflectivity: 72,
-				TimingOffset: 1075.968,
-			},
-			{
-				Distance:     1.452,
-				Azimuth:      1.8709929581379214,
-				Elevation:    -0.05235987755982988,
-				Reflectivity: 73,
-				TimingOffset: 1078.272,
-			},
-			{
-				Distance:     1.478,
-				Azimuth:      1.8709929581379214,
-				Elevation:    0.22689280275926285,
-				Reflectivity: 54,
-				TimingOffset: 1080.576,
-			},
-			{
-				Distance:     1.566,
-				Azimuth:      1.8709929581379214,
-				Elevation:    -0.017453292519943295,
-				Reflectivity: 7,
-				TimingOffset: 1082.88,
-			},
-			{
-				Distance:     1.482,
-				Azimuth:      1.8709929581379214,
-				Elevation:    0.2617993877991494,
-				Reflectivity: 62,
-				TimingOffset: 1085.184,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8746581495671093,
-				Elevation:    -0.2617993877991494,
-				Reflectivity: 2,
-				TimingOffset: 1105.92,
-			},
-			{
-				Distance:     1.672,
-				Azimuth:      1.8746581495671093,
-				Elevation:    0.017453292519943295,
-				Reflectivity: 58,
-				TimingOffset: 1108.2240000000002,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8746581495671093,
-				Elevation:    -0.22689280275926285,
-				Reflectivity: 3,
-				TimingOffset: 1110.528,
-			},
-			{
-				Distance:     1.6640000000000001,
-				Azimuth:      1.8746581495671093,
-				Elevation:    0.05235987755982988,
-				Reflectivity: 76,
-				TimingOffset: 1112.832,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8746581495671093,
-				Elevation:    -0.19198621771937624,
-				Reflectivity: 2,
-				TimingOffset: 1115.136,
-			},
-			{
-				Distance:     1.436,
-				Azimuth:      1.8746581495671093,
-				Elevation:    0.08726646259971647,
-				Reflectivity: 48,
-				TimingOffset: 1117.44,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8746581495671093,
-				Elevation:    -0.15707963267948966,
-				Reflectivity: 3,
-				TimingOffset: 1119.7440000000001,
-			},
-			{
-				Distance:     1.436,
-				Azimuth:      1.8746581495671093,
-				Elevation:    0.12217304763960307,
-				Reflectivity: 50,
-				TimingOffset: 1122.048,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8746581495671093,
-				Elevation:    -0.12217304763960307,
-				Reflectivity: 1,
-				TimingOffset: 1124.352,
-			},
-			{
-				Distance:     1.456,
-				Azimuth:      1.8746581495671093,
-				Elevation:    0.15707963267948966,
-				Reflectivity: 53,
-				TimingOffset: 1126.6560000000002,
-			},
-			{
-				Distance:     1.49,
-				Azimuth:      1.8746581495671093,
-				Elevation:    -0.08726646259971647,
-				Reflectivity: 60,
-				TimingOffset: 1128.96,
-			},
-			{
-				Distance:     1.448,
-				Azimuth:      1.8746581495671093,
-				Elevation:    0.19198621771937624,
-				Reflectivity: 57,
-				TimingOffset: 1131.2640000000001,
-			},
-			{
-				Distance:     1.458,
-				Azimuth:      1.8746581495671093,
-				Elevation:    -0.05235987755982988,
-				Reflectivity: 41,
-				TimingOffset: 1133.568,
-			},
-			{
-				Distance:     1.472,
-				Azimuth:      1.8746581495671093,
-				Elevation:    0.22689280275926285,
-				Reflectivity: 53,
-				TimingOffset: 1135.872,
-			},
-			{
-				Distance:     1.55,
-				Azimuth:      1.8746581495671093,
-				Elevation:    -0.017453292519943295,
-				Reflectivity: 4,
-				TimingOffset: 1138.1760000000002,
-			},
-			{
-				Distance:     1.486,
-				Azimuth:      1.8746581495671093,
-				Elevation:    0.2617993877991494,
-				Reflectivity: 54,
-				TimingOffset: 1140.48,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8781488080710982,
-				Elevation:    -0.2617993877991494,
-				Reflectivity: 2,
-				TimingOffset: 1161.216,
-			},
-			{
-				Distance:     1.674,
-				Azimuth:      1.8781488080710982,
-				Elevation:    0.017453292519943295,
-				Reflectivity: 61,
-				TimingOffset: 1163.52,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8781488080710982,
-				Elevation:    -0.22689280275926285,
-				Reflectivity: 2,
-				TimingOffset: 1165.8239999999998,
-			},
-			{
-				Distance:     1.676,
-				Azimuth:      1.8781488080710982,
-				Elevation:    0.05235987755982988,
-				Reflectivity: 72,
-				TimingOffset: 1168.128,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8781488080710982,
-				Elevation:    -0.19198621771937624,
-				Reflectivity: 2,
-				TimingOffset: 1170.4319999999998,
-			},
-			{
-				Distance:     1.432,
-				Azimuth:      1.8781488080710982,
-				Elevation:    0.08726646259971647,
-				Reflectivity: 45,
-				TimingOffset: 1172.7359999999999,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8781488080710982,
-				Elevation:    -0.15707963267948966,
-				Reflectivity: 3,
-				TimingOffset: 1175.04,
-			},
-			{
-				Distance:     1.452,
-				Azimuth:      1.8781488080710982,
-				Elevation:    0.12217304763960307,
-				Reflectivity: 53,
-				TimingOffset: 1177.3439999999998,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8781488080710982,
-				Elevation:    -0.12217304763960307,
-				Reflectivity: 77,
-				TimingOffset: 1179.648,
-			},
-			{
-				Distance:     1.448,
-				Azimuth:      1.8781488080710982,
-				Elevation:    0.15707963267948966,
-				Reflectivity: 54,
-				TimingOffset: 1181.952,
-			},
-			{
-				Distance:     1.492,
-				Azimuth:      1.8781488080710982,
-				Elevation:    -0.08726646259971647,
-				Reflectivity: 59,
-				TimingOffset: 1184.2559999999999,
-			},
-			{
-				Distance:     1.47,
-				Azimuth:      1.8781488080710982,
-				Elevation:    0.19198621771937624,
-				Reflectivity: 63,
-				TimingOffset: 1186.56,
-			},
-			{
-				Distance:     1.45,
-				Azimuth:      1.8781488080710982,
-				Elevation:    -0.05235987755982988,
-				Reflectivity: 21,
-				TimingOffset: 1188.8639999999998,
-			},
-			{
-				Distance:     1.476,
-				Azimuth:      1.8781488080710982,
-				Elevation:    0.22689280275926285,
-				Reflectivity: 50,
-				TimingOffset: 1191.168,
-			},
-			{
-				Distance:     1.534,
-				Azimuth:      1.8781488080710982,
-				Elevation:    -0.017453292519943295,
-				Reflectivity: 5,
-				TimingOffset: 1193.472,
-			},
-			{
-				Distance:     1.494,
-				Azimuth:      1.8781488080710982,
-				Elevation:    0.2617993877991494,
-				Reflectivity: 56,
-				TimingOffset: 1195.7759999999998,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.2617993877991494,
-				Reflectivity: 2,
-				TimingOffset: 1216.512,
-			},
-			{
-				Distance:     1.676,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.017453292519943295,
-				Reflectivity: 56,
-				TimingOffset: 1218.816,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.22689280275926285,
-				Reflectivity: 2,
-				TimingOffset: 1221.12,
-			},
-			{
-				Distance:     1.684,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.05235987755982988,
-				Reflectivity: 75,
-				TimingOffset: 1223.424,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.19198621771937624,
-				Reflectivity: 2,
-				TimingOffset: 1225.7279999999998,
-			},
-			{
-				Distance:     1.434,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.08726646259971647,
-				Reflectivity: 51,
-				TimingOffset: 1228.032,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.15707963267948966,
-				Reflectivity: 3,
-				TimingOffset: 1230.336,
-			},
-			{
-				Distance:     1.46,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.12217304763960307,
-				Reflectivity: 54,
-				TimingOffset: 1232.6399999999999,
-			},
-			{
-				Distance:     1.512,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.12217304763960307,
-				Reflectivity: 40,
-				TimingOffset: 1234.944,
-			},
-			{
-				Distance:     1.45,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.15707963267948966,
-				Reflectivity: 60,
-				TimingOffset: 1237.248,
-			},
-			{
-				Distance:     1.48,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.08726646259971647,
-				Reflectivity: 59,
-				TimingOffset: 1239.552,
-			},
-			{
-				Distance:     1.468,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.19198621771937624,
-				Reflectivity: 60,
-				TimingOffset: 1241.856,
-			},
-			{
-				Distance:     1.466,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.05235987755982988,
-				Reflectivity: 65,
-				TimingOffset: 1244.1599999999999,
-			},
-			{
-				Distance:     1.492,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.22689280275926285,
-				Reflectivity: 53,
-				TimingOffset: 1246.464,
-			},
-			{
-				Distance:     1.538,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.017453292519943295,
-				Reflectivity: 5,
-				TimingOffset: 1248.768,
-			},
-			{
-				Distance:     1.49,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.2617993877991494,
-				Reflectivity: 53,
-				TimingOffset: 1251.072,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.2617993877991494,
-				Reflectivity: 2,
-				TimingOffset: 1271.808,
-			},
-			{
-				Distance:     1.672,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.017453292519943295,
-				Reflectivity: 58,
-				TimingOffset: 1274.112,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.22689280275926285,
-				Reflectivity: 2,
-				TimingOffset: 1276.416,
-			},
-			{
-				Distance:     1.692,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.05235987755982988,
-				Reflectivity: 72,
-				TimingOffset: 1278.72,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.19198621771937624,
-				Reflectivity: 2,
-				TimingOffset: 1281.024,
-			},
-			{
-				Distance:     1.436,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.08726646259971647,
-				Reflectivity: 61,
-				TimingOffset: 1283.328,
-			},
-			{
-				Distance:     0,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.15707963267948966,
-				Reflectivity: 3,
-				TimingOffset: 1285.632,
-			},
-			{
-				Distance:     1.46,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.12217304763960307,
-				Reflectivity: 57,
-				TimingOffset: 1287.936,
-			},
-			{
-				Distance:     1.416,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.12217304763960307,
-				Reflectivity: 41,
-				TimingOffset: 1290.24,
-			},
-			{
-				Distance:     1.464,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.15707963267948966,
-				Reflectivity: 54,
-				TimingOffset: 1292.544,
-			},
-			{
-				Distance:     1.45,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.08726646259971647,
-				Reflectivity: 40,
-				TimingOffset: 1294.848,
-			},
-			{
-				Distance:     1.466,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.19198621771937624,
-				Reflectivity: 71,
-				TimingOffset: 1297.152,
-			},
-			{
-				Distance:     1.4060000000000001,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.05235987755982988,
-				Reflectivity: 46,
-				TimingOffset: 1299.456,
-			},
-			{
-				Distance:     1.502,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.22689280275926285,
-				Reflectivity: 56,
-				TimingOffset: 1301.76,
-			},
-			{
-				Distance:     1.544,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.017453292519943295,
-				Reflectivity: 5,
-				TimingOffset: 1304.064,
-			},
-			{
-				Distance:     1.494,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.2617993877991494,
-				Reflectivity: 58,
-				TimingOffset: 1306.368,
-			},
-		},
-		Timestamp: 2666163099000,
-	}
-}
-
-func exampleSphericalPointCloudLastReflection() *SphericalPointCloud {
-	return &SphericalPointCloud{
-		SphericalPoints: [BlocksPerPacket * ChannelsPerBlock]SphericalPoint{
-			{
-				Distance:       0,
-				Azimuth:        1.8050195124125357,
-				Elevation:      -0.2617993877991494,
-				Reflectivity:   2,
-				LastReflection: true,
-				TimingOffset:   0,
-			},
-			{
-				Distance:       1.534,
-				Azimuth:        1.8050195124125357,
-				Elevation:      0.017453292519943295,
-				Reflectivity:   3,
-				LastReflection: true,
-				TimingOffset:   2.304,
-			},
-			{
-				Distance:       0,
-				Azimuth:        1.8050195124125357,
-				Elevation:      -0.22689280275926285,
-				Reflectivity:   3,
-				LastReflection: true,
-				TimingOffset:   4.608,
-			},
-			{
-				Distance:       1.568,
-				Azimuth:        1.8050195124125357,
-				Elevation:      0.05235987755982988,
-				Reflectivity:   75,
-				LastReflection: true,
-				TimingOffset:   6.911999999999999,
-			},
-			{
-				Distance:       0,
-				Azimuth:        1.8050195124125357,
-				Elevation:      -0.19198621771937624,
-				Reflectivity:   2,
-				LastReflection: true,
-				TimingOffset:   9.216,
-			},
-			{
-				Distance:       1.368,
-				Azimuth:        1.8050195124125357,
-				Elevation:      0.08726646259971647,
-				Reflectivity:   57,
-				LastReflection: true,
-				TimingOffset:   11.52,
-			},
-			{
-				Distance:       0,
-				Azimuth:        1.8050195124125357,
-				Elevation:      -0.15707963267948966,
-				Reflectivity:   3,
-				LastReflection: true,
-				TimingOffset:   13.823999999999998,
-			},
-			{
-				Distance:       1.4000000000000001,
-				Azimuth:        1.8050195124125357,
-				Elevation:      0.12217304763960307,
-				Reflectivity:   56,
-				LastReflection: true,
-				TimingOffset:   16.128,
-			},
-			{
-				Distance:       0,
-				Azimuth:        1.8050195124125357,
-				Elevation:      -0.12217304763960307,
-				Reflectivity:   1,
-				LastReflection: true,
-				TimingOffset:   18.432,
-			},
-			{
-				Distance:       1.4020000000000001,
-				Azimuth:        1.8050195124125357,
-				Elevation:      0.15707963267948966,
-				Reflectivity:   69,
-				LastReflection: true,
-				TimingOffset:   20.735999999999997,
-			},
-			{
-				Distance:       1.4040000000000001,
-				Azimuth:        1.8050195124125357,
-				Elevation:      -0.08726646259971647,
-				Reflectivity:   0,
-				LastReflection: true,
-				TimingOffset:   23.04,
-			},
-			{
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 				Distance:     1.48,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.08726646259971647,
+				Column:       22,
+				Row:          5,
 				Reflectivity: 59,
-				TimingOffset: 576,
 			},
 			{
 				Distance:     1.468,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.19198621771937624,
+				Column:       22,
+				Row:          13,
 				Reflectivity: 60,
-				TimingOffset: 578.3040000000001,
 			},
 			{
 				Distance:     1.466,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.05235987755982988,
+				Column:       22,
+				Row:          6,
 				Reflectivity: 65,
-				TimingOffset: 580.6080000000001,
 			},
 			{
 				Distance:     1.492,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.22689280275926285,
+				Column:       22,
+				Row:          14,
 				Reflectivity: 53,
-				TimingOffset: 582.912,
 			},
 			{
 				Distance:     1.538,
-				Azimuth:      1.8816394665750866,
-				Elevation:    -0.017453292519943295,
+				Column:       22,
+				Row:          7,
 				Reflectivity: 5,
-				TimingOffset: 585.216,
 			},
 			{
 				Distance:     1.49,
-				Azimuth:      1.8816394665750866,
-				Elevation:    0.2617993877991494,
+				Column:       22,
+				Row:          15,
 				Reflectivity: 53,
-				TimingOffset: 587.52,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.2617993877991494,
+				Column:       23,
+				Row:          0,
 				Reflectivity: 2,
-				TimingOffset: 608.256,
 			},
 			{
 				Distance:     1.672,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.017453292519943295,
+				Column:       23,
+				Row:          8,
 				Reflectivity: 58,
-				TimingOffset: 610.56,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.22689280275926285,
+				Column:       23,
+				Row:          1,
 				Reflectivity: 2,
-				TimingOffset: 612.8639999999999,
 			},
 			{
 				Distance:     1.692,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.05235987755982988,
+				Column:       23,
+				Row:          9,
 				Reflectivity: 72,
-				TimingOffset: 615.168,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.19198621771937624,
+				Column:       23,
+				Row:          2,
 				Reflectivity: 2,
-				TimingOffset: 617.472,
 			},
 			{
 				Distance:     1.436,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.08726646259971647,
+				Column:       23,
+				Row:          10,
 				Reflectivity: 61,
-				TimingOffset: 619.776,
 			},
 			{
 				Distance:     0,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.15707963267948966,
+				Column:       23,
+				Row:          3,
 				Reflectivity: 3,
-				TimingOffset: 622.0799999999999,
 			},
 			{
 				Distance:     1.46,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.12217304763960307,
+				Column:       23,
+				Row:          11,
 				Reflectivity: 57,
-				TimingOffset: 624.384,
 			},
 			{
 				Distance:     1.416,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.12217304763960307,
+				Column:       23,
+				Row:          4,
 				Reflectivity: 41,
-				TimingOffset: 626.688,
 			},
 			{
 				Distance:     1.464,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.15707963267948966,
+				Column:       23,
+				Row:          12,
 				Reflectivity: 54,
-				TimingOffset: 628.992,
 			},
 			{
 				Distance:     1.45,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.08726646259971647,
+				Column:       23,
+				Row:          5,
 				Reflectivity: 40,
-				TimingOffset: 631.2959999999999,
 			},
 			{
 				Distance:     1.466,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.19198621771937624,
+				Column:       23,
+				Row:          13,
 				Reflectivity: 71,
-				TimingOffset: 633.6,
 			},
 			{
 				Distance:     1.4060000000000001,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.05235987755982988,
+				Column:       23,
+				Row:          6,
 				Reflectivity: 46,
-				TimingOffset: 635.904,
 			},
 			{
 				Distance:     1.502,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.22689280275926285,
+				Column:       23,
+				Row:          14,
 				Reflectivity: 56,
-				TimingOffset: 638.208,
 			},
 			{
 				Distance:     1.544,
-				Azimuth:      1.8851301250790755,
-				Elevation:    -0.017453292519943295,
+				Column:       23,
+				Row:          7,
 				Reflectivity: 5,
-				TimingOffset: 640.512,
 			},
 			{
 				Distance:     1.494,
-				Azimuth:      1.8851301250790755,
-				Elevation:    0.2617993877991494,
+				Column:       23,
+				Row:          15,
 				Reflectivity: 58,
-				TimingOffset: 642.8159999999999,
 			},
 		},
-		Timestamp: 2666163099000,
+		TimeSinceTopOfHour: 2666163099000,
 	}
 }
diff --git a/go.mod b/go.mod
index 355ecb4..0949d1a 100644
--- a/go.mod
+++ b/go.mod
@@ -3,10 +3,9 @@ module github.com/einride/vlp-16-go
 go 1.12
 
 require (
-	github.com/davecgh/go-spew v1.1.1 // indirect
+	github.com/einride/unit v1.6.0
 	github.com/golang/mock v1.3.1
-	github.com/pmezard/go-difflib v1.0.0 // indirect
-	github.com/stretchr/testify v1.2.2
+	github.com/stretchr/testify v1.3.0
 	golang.org/x/tools v0.0.0-20190729092621-ff9f1409240a
-	golang.org/x/xerrors v0.0.0-20190315151331-d61658bd2e18
+	golang.org/x/xerrors v0.0.0-20190513163551-3ee3066db522
 )
diff --git a/go.sum b/go.sum
index 34728be..82db13d 100644
--- a/go.sum
+++ b/go.sum
@@ -1,11 +1,15 @@
+github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
+github.com/einride/unit v1.6.0 h1:V5vGFpNfGkFDPPhOduQhI4JSzePdDeHNI6NXyE7EFNo=
+github.com/einride/unit v1.6.0/go.mod h1:VkeEoz/WVqQktnRS0c+Fn82+cgzbXaCxwrVAuku9RmI=
 github.com/golang/mock v1.3.1 h1:qGJ6qTW+x6xX/my+8YUVl4WNpX9B7+/l2tRsHGZ7f2s=
 github.com/golang/mock v1.3.1/go.mod h1:sBzyDLLjw3U8JLTeZvSv8jJB+tU5PVekmnlKIyFUx0Y=
 github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
-github.com/stretchr/testify v1.2.2 h1:bSDNvY7ZPG5RlJ8otE/7V6gMiyenm9RtJ7IUVIAoJ1w=
-github.com/stretchr/testify v1.2.2/go.mod h1:a8OnRcib4nhh0OaRAV+Yts87kKdq0PP7pXfy6kDkUVs=
+github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
+github.com/stretchr/testify v1.3.0 h1:TivCn/peBQ7UY8ooIcPgZFpTNSz0Q2U6UrFlUfqbe0Q=
+github.com/stretchr/testify v1.3.0/go.mod h1:M5WIy9Dh21IEIfnGCwXGc5bZfKNJtfHm1UVUgZn+9EI=
 golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w=
 golang.org/x/net v0.0.0-20190311183353-d8887717615a/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg=
 golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
@@ -15,5 +19,5 @@ golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
 golang.org/x/tools v0.0.0-20190425150028-36563e24a262/go.mod h1:RgjU9mgBXZiqYHBnxXauZ1Gv1EHHAz9KjViQ78xBX0Q=
 golang.org/x/tools v0.0.0-20190729092621-ff9f1409240a h1:mEQZbbaBjWyLNy0tmZmgEuQAR8XOQ3hL8GYi3J/NG64=
 golang.org/x/tools v0.0.0-20190729092621-ff9f1409240a/go.mod h1:jcCCGcm9btYwXyDqrUWc6MKQKKGJCWEQ3AfLSRIbEuI=
-golang.org/x/xerrors v0.0.0-20190315151331-d61658bd2e18 h1:1AGvnywFL1aB5KLRxyLseWJI6aSYPo3oF7HSpXdWQdU=
-golang.org/x/xerrors v0.0.0-20190315151331-d61658bd2e18/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
+golang.org/x/xerrors v0.0.0-20190513163551-3ee3066db522 h1:bhOzK9QyoD0ogCnFro1m2mz41+Ib0oOhfJnBp5MR4K4=
+golang.org/x/xerrors v0.0.0-20190513163551-3ee3066db522/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
diff --git a/pointcloud.go b/pointcloud.go
new file mode 100644
index 0000000..ff9b79b
--- /dev/null
+++ b/pointcloud.go
@@ -0,0 +1,110 @@
+package vlp16
+
+import (
+	"time"
+
+	"github.com/einride/unit"
+)
+
+const (
+	// PointsPerCloud is the number of points in a full firing point cloud.
+	PointsPerCloud = BlocksPerPacket * ChannelsPerBlock
+	// CloumnsPerPacket is the number of columns in point cloud matrix.
+	ColumnsPerPacket = BlocksPerPacket * 2
+	// RowsPerColumnSingleReturn is the number of rows in point cloud in single return mode.
+	RowsPerColumnSingleReturn = 16
+	// FullFiringTime is the total time for laser firings plus recharge (55.296 µs).
+	FullFiringTime = 55296 * time.Nanosecond
+	// SingleFiringTime is the time for one laser firing (2.304 µs).
+	SingleFiringTime = 2304 * time.Nanosecond
+	// RechargeTime is the recharge time between laser firings (18.432 µs).
+	RechargeTime = 18432 * time.Nanosecond
+	// LowestElevation is the elevation angle of first row of measurements.
+	LowestElevation = -15 * unit.Degree
+	// DeltaElevation is the angle difference between two rows.
+	DeltaElevation = 2 * unit.Degree
+)
+
+// compile-time assertion on full firing time.
+var _ [FullFiringTime]struct{} = [RowsPerColumnSingleReturn*SingleFiringTime + RechargeTime]struct{}{}
+
+type PointCloud struct {
+	TimeSinceTopOfHour time.Duration
+	Points             [PointsPerCloud]Point
+	Azimuths           [ColumnsPerPacket]unit.Angle
+}
+
+type Point struct {
+	Row              uint8
+	Column           uint8
+	Return           uint8
+	Reflectivity     uint8
+	IsLastReflection bool
+	Distance         unit.Distance
+}
+
+const (
+	distanceFactor = 0.002
+	azimuthFactor  = 0.01
+)
+
+func (s *PointCloud) UnmarshalPacket(packet *Packet) {
+	s.TimeSinceTopOfHour = time.Duration(packet.Timestamp) * time.Microsecond
+	for blockIndex := range packet.Blocks {
+		block := &packet.Blocks[blockIndex]
+		for channelIndex := range block.Channels {
+			channel := &block.Channels[channelIndex]
+			point := &s.Points[blockIndex*ChannelsPerBlock+channelIndex]
+			if packet.ReturnMode == ReturnModeDualReturn {
+				point.Column = uint8(blockIndex - (blockIndex % 2) + (channelIndex / RowsPerColumnSingleReturn))
+				point.Return = uint8(channelIndex % RowsPerColumnSingleReturn)
+			} else {
+				point.Column = uint8(blockIndex*2 + channelIndex/RowsPerColumnSingleReturn)
+				point.Return = 0
+			}
+			if channelIndex >= RowsPerColumnSingleReturn { // account for second firing
+				point.Row = uint8((channelIndex-RowsPerColumnSingleReturn)/2 +
+					(channelIndex-RowsPerColumnSingleReturn)%2*8)
+			} else {
+				point.Row = uint8(channelIndex/2 + channelIndex%2*8)
+			}
+			point.Distance = unit.Distance(channel.Distance) * distanceFactor * unit.Metre
+			point.Reflectivity = packet.Blocks[blockIndex].Channels[channelIndex].Reflectivity
+			point.IsLastReflection = packet.ReturnMode == ReturnModeLastReturn ||
+				// dual return mode: even number blocks (0,2,4,...) contain last return
+				packet.ReturnMode == ReturnModeDualReturn && blockIndex%2 == 0
+			switch channelIndex {
+			case 0:
+				s.Azimuths[point.Column] =
+					unit.Angle(float64(block.Azimuth)*azimuthFactor) * unit.Degree
+			case 16:
+				s.Azimuths[point.Column] =
+					unit.Angle(float64(interpolateAzimuth(uint8(blockIndex), packet))*azimuthFactor) * unit.Degree
+			}
+		}
+	}
+}
+
+func interpolateAzimuth(blockIndex uint8, packet *Packet) uint16 {
+	// TODO: Interpolate azimuth with high precision algorithm
+	// Interpolates azimuth angle by using the either the next blocks azimuth or if it's the last block
+	// it uses the next to last.
+	var azimuthMin uint16
+	var azimuthMax uint16
+	if blockIndex == uint8(len(packet.Blocks)-1) {
+		azimuthMin = packet.Blocks[blockIndex-1].Azimuth
+		azimuthMax = packet.Blocks[blockIndex].Azimuth
+	} else {
+		azimuthMin = packet.Blocks[blockIndex].Azimuth
+		azimuthMax = packet.Blocks[blockIndex+1].Azimuth
+	}
+	if azimuthMax < azimuthMin { // If the bigger angle has gone over 360 degrees (35999 -> 0)
+		azimuthMax += 360 / azimuthFactor
+	}
+	azimuth := packet.Blocks[blockIndex].Azimuth + (azimuthMax-azimuthMin)/2
+	const maxAzimuth = 35999 // Azimuth max value as binary
+	if azimuth > maxAzimuth {
+		azimuth -= 360 / azimuthFactor
+	}
+	return azimuth
+}
diff --git a/pointcloud_test.go b/pointcloud_test.go
new file mode 100644
index 0000000..a81e722
--- /dev/null
+++ b/pointcloud_test.go
@@ -0,0 +1,55 @@
+package vlp16
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestSphericalPointCloud_UnmarshalExamplePacket(t *testing.T) {
+	actual := &PointCloud{}
+	actual.UnmarshalPacket(examplePacket())
+	requirePointCloudEqual(t, exampleSphericalPointCloud(), actual)
+}
+
+func requirePointCloudEqual(t *testing.T, p *PointCloud, pc *PointCloud) {
+	const delta = 1e-5
+	require.Equal(t, p.TimeSinceTopOfHour, pc.TimeSinceTopOfHour)
+	for i := range p.Azimuths {
+		require.InDelta(t, p.Azimuths[i].Radians(), pc.Azimuths[i].Radians(), delta)
+	}
+	for i := range p.Points {
+		require.InDelta(t, p.Points[i].Distance.Metres(), pc.Points[i].Distance.Metres(), delta)
+		require.Equal(t, p.Points[i].Column, pc.Points[i].Column)
+		require.Equal(t, p.Points[i].Row, pc.Points[i].Row)
+		require.Equal(t, p.Points[i].Reflectivity, pc.Points[i].Reflectivity)
+		require.Equal(t, p.Points[i].IsLastReflection, pc.Points[i].IsLastReflection)
+	}
+}
+
+func TestInterpolateAzimuth(t *testing.T) {
+	sc, done := newPacketRecordingScanner(t, "testdata/recording.bin")
+	defer done()
+	for sc.Scan() {
+		var data [lengthOfPacket]byte
+		copy(data[:], sc.Bytes())
+		var packet Packet
+		packet.unmarshal(&data)
+		for blockIndex := 0; blockIndex < len(packet.Blocks); blockIndex++ {
+			block := packet.Blocks[blockIndex]
+			azimuth := block.Azimuth
+			for j := 0; j < len(packet.Blocks[0].Channels); j++ {
+				if j == 16 {
+					newAzimuth := interpolateAzimuth(uint8(blockIndex), &packet)
+					var testBool bool
+					if azimuth > 35980 { // approximate that holds as of now...
+						testBool = azimuth > newAzimuth
+					} else {
+						testBool = newAzimuth > azimuth
+					}
+					require.True(t, testBool)
+				}
+			}
+		}
+	}
+}
diff --git a/spherical_point_cloud.go b/spherical_point_cloud.go
deleted file mode 100644
index ed43813..0000000
--- a/spherical_point_cloud.go
+++ /dev/null
@@ -1,47 +0,0 @@
-package vlp16
-
-import (
-	"time"
-)
-
-// PointsPerCloud is the number of points in a point cloud.
-const PointsPerCloud = BlocksPerPacket * ChannelsPerBlock
-
-type SphericalPointCloud struct {
-	Timestamp       time.Duration
-	SphericalPoints [PointsPerCloud]SphericalPoint
-}
-
-type SphericalPoint struct {
-	Distance       float64
-	Azimuth        float64
-	Elevation      float64
-	Reflectivity   uint8
-	LastReflection bool
-	TimingOffset   float64
-}
-
-func (s *SphericalPointCloud) UnmarshalPacket(packet *Packet) {
-	// duration is in nanoseconds and Velodyne timestamp in microseconds
-	s.Timestamp = time.Duration(packet.Timestamp) * time.Microsecond
-	timingOffsets := calculateTimingOffset(packet.ReturnMode)
-	for i := range packet.Blocks {
-		block := &packet.Blocks[i]
-		azimuth := block.Azimuth
-		for j := range block.Channels {
-			channel := &block.Channels[j]
-			if j == 16 {
-				azimuth = interpolateAzimuth(i, packet)
-			}
-			point := &s.SphericalPoints[i*ChannelsPerBlock+j]
-			point.Distance = float64(channel.Distance) * distanceFactor
-			point.Azimuth = deg2Rad(float64(azimuth) * azimuthFactor)
-			point.Elevation = verticalAngle(j)
-			point.Reflectivity = packet.Blocks[i].Channels[j].Reflectivity
-			point.LastReflection = packet.ReturnMode == ReturnModeLastReturn ||
-				// dual return mode: even number blocks (0,2,4,...) contain last return
-				packet.ReturnMode == ReturnModeDualReturn && i%2 == 0
-			point.TimingOffset = timingOffsets[j][i]
-		}
-	}
-}
diff --git a/spherical_point_cloud_test.go b/spherical_point_cloud_test.go
deleted file mode 100644
index f5c4a39..0000000
--- a/spherical_point_cloud_test.go
+++ /dev/null
@@ -1,58 +0,0 @@
-package vlp16
-
-import (
-	"testing"
-
-	"github.com/stretchr/testify/require"
-)
-
-func TestSimulateRead(t *testing.T) {
-	sc, done := newPacketRecordingScanner(t, "testdata/recording.bin")
-	defer done()
-	for sc.Scan() {
-		var data [lengthOfPacket]byte
-		copy(data[:], sc.Bytes())
-		var packet Packet
-		packet.unmarshal(&data)
-		var cloud SphericalPointCloud
-		cloud.UnmarshalPacket(&packet)
-		for i := range cloud.SphericalPoints {
-			// all points in test data are strongest return
-			require.Equal(t, cloud.SphericalPoints[i].LastReflection, false)
-		}
-	}
-}
-
-func TestSphericalPointCloud_UnmarshalExamplePacket(t *testing.T) {
-	actual := &SphericalPointCloud{}
-	actual.UnmarshalPacket(examplePacket())
-	require.Equal(t, exampleSphericalPointCloud(), actual)
-}
-
-func TestSphericalPointCloud_UnmarshalExamplePacketLastReflection(t *testing.T) {
-	actual := &SphericalPointCloud{}
-	actual.UnmarshalPacket(examplePacketLastReflection())
-	require.Equal(t, exampleSphericalPointCloudLastReflection(), actual)
-}
-
-func TestLastReflection(t *testing.T) {
-	var cloud SphericalPointCloud
-	cloud.UnmarshalPacket(examplePacketLastReflection())
-	require.Equal(t, cloud.SphericalPoints[1].LastReflection, true)
-	require.Equal(t, cloud.SphericalPoints[35].LastReflection, false)
-}
-
-func TestTimingOffset(t *testing.T) {
-	const eps = 0.005
-	var cloud SphericalPointCloud
-	cloud.UnmarshalPacket(examplePacketLastReflection())
-	require.InDelta(t, 2.304, cloud.SphericalPoints[1].TimingOffset, eps)
-	require.InDelta(t, 34.560, cloud.SphericalPoints[15].TimingOffset, eps)
-	require.InDelta(t, 89.856, cloud.SphericalPoints[31].TimingOffset, eps)
-	require.InDelta(t, 642.816, cloud.SphericalPoints[len(cloud.SphericalPoints)-1].TimingOffset, eps)
-	cloud.UnmarshalPacket(examplePacket())
-	require.InDelta(t, 2.304, cloud.SphericalPoints[1].TimingOffset, eps)
-	require.InDelta(t, 34.560, cloud.SphericalPoints[15].TimingOffset, eps)
-	require.InDelta(t, 89.856, cloud.SphericalPoints[31].TimingOffset, eps)
-	require.InDelta(t, 1306.37, cloud.SphericalPoints[len(cloud.SphericalPoints)-1].TimingOffset, eps)
-}
diff --git a/vlp16.go b/vlp16.go
deleted file mode 100644
index 6c988be..0000000
--- a/vlp16.go
+++ /dev/null
@@ -1,100 +0,0 @@
-package vlp16
-
-import (
-	"math"
-)
-
-const (
-	distanceFactor   = 0.002  // 2/1000. A reported value of 51154 represents 102.308 meter
-	azimuthFactor    = 0.01   // Azimuth is uint16 representing an angle in one hundredth of a degree
-	maxAzimuth       = 35999  // Azimuth max value as binary
-	fullFiringTime   = 55.296 // Total time for laser firings plus recharge (µs)
-	singleFiringTime = 2.304  // Time for one laser firing (µs)
-)
-
-func calculateTimingOffset(returnMode ReturnMode) [32][12]float64 {
-	var timingOffsets [32][12]float64
-	var dataBlockIndex int
-	for y, inner := range timingOffsets {
-		for x := range inner {
-			if returnMode == ReturnModeDualReturn {
-				dataBlockIndex = (x - (x % 2)) + (y / 16)
-			} else {
-				dataBlockIndex = (x * 2) + (y / 16)
-			}
-			dataPointIndex := y % 16
-			timingOffsets[y][x] = fullFiringTime*float64(dataBlockIndex) +
-				singleFiringTime*float64(dataPointIndex)
-		}
-	}
-	return timingOffsets
-}
-
-func spherical2XYZ(laserID int, azimuth uint16, distance uint16) (float64, float64, float64) {
-	omega := verticalAngle(laserID)
-	r := float64(distance) * distanceFactor
-	alpha := deg2Rad(float64(azimuth) * azimuthFactor)
-
-	X := r * math.Cos(omega) * math.Sin(alpha)
-	Y := r * math.Cos(omega) * math.Cos(alpha)
-	Z := r * math.Sin(omega)
-
-	return X, Y, Z
-}
-
-func verticalAngle(laserID int) float64 {
-	verticalAngles := [16]float64{
-		deg2Rad(-15),
-		deg2Rad(1),
-		deg2Rad(-13),
-		deg2Rad(3),
-		deg2Rad(-11),
-		deg2Rad(5),
-		deg2Rad(-9),
-		deg2Rad(7),
-		deg2Rad(-7),
-		deg2Rad(9),
-		deg2Rad(-5),
-		deg2Rad(11),
-		deg2Rad(-3),
-		deg2Rad(13),
-		deg2Rad(-1),
-		deg2Rad(15),
-	}
-	if laserID > 15 { // Account for second firing
-		laserID -= 16
-	}
-	return verticalAngles[laserID]
-}
-
-func interpolateAzimuth(blockIndex int, packet *Packet) uint16 {
-	// TODO: Interpolate azimuth with high precision algorithm
-	// Interpolates azimuth angle by using the either the next blocks azimuth or if it's the last block
-	// it uses the next to last.
-	var azimuthMin uint16
-	var azimuthMax uint16
-
-	if blockIndex == len(packet.Blocks)-1 {
-		azimuthMin = packet.Blocks[blockIndex-1].Azimuth
-		azimuthMax = packet.Blocks[blockIndex].Azimuth
-	} else {
-		azimuthMin = packet.Blocks[blockIndex].Azimuth
-		azimuthMax = packet.Blocks[blockIndex+1].Azimuth
-	}
-
-	if azimuthMax < azimuthMin { // If the bigger angle has gone over 360 degrees (35999 -> 0)
-		azimuthMax += 360 / azimuthFactor
-	}
-
-	azimuth := packet.Blocks[blockIndex].Azimuth + (azimuthMax-azimuthMin)/2
-
-	if azimuth > maxAzimuth {
-		azimuth -= 360 / azimuthFactor
-	}
-
-	return azimuth
-}
-
-func deg2Rad(degree float64) float64 {
-	return degree * math.Pi / 180
-}
diff --git a/vlp16_test.go b/vlp16_test.go
deleted file mode 100644
index 3da9ab3..0000000
--- a/vlp16_test.go
+++ /dev/null
@@ -1,83 +0,0 @@
-package vlp16
-
-import (
-	"math"
-	"testing"
-
-	"github.com/stretchr/testify/require"
-)
-
-func TestCalculateTimeOffset(t *testing.T) {
-	eps := 0.005
-	// Expected values taken from Figure 9-9 Single Return Mode Timing Offsets (µs), VLP-16 Manual
-	timingOffsetsLastReturn := calculateTimingOffset(ReturnModeLastReturn)
-	require.InDelta(t, 0.0, timingOffsetsLastReturn[0][0], eps)
-	require.InDelta(t, 34.560, timingOffsetsLastReturn[15][0], eps)
-	require.InDelta(t, 55.296, timingOffsetsLastReturn[16][0], eps)
-	require.InDelta(t, 89.856, timingOffsetsLastReturn[31][0], eps)
-	require.InDelta(t, 110.592, timingOffsetsLastReturn[0][1], eps)
-	require.InDelta(t, 145.152, timingOffsetsLastReturn[15][1], eps)
-	require.InDelta(t, 165.888, timingOffsetsLastReturn[16][1], eps)
-	require.InDelta(t, 200.448, timingOffsetsLastReturn[31][1], eps)
-	require.InDelta(t, 1306.37, timingOffsetsLastReturn[31][11], eps)
-	// Expected values taken from Figure 9-10 Dual Return Mode Timing Offsets (µs), VLP-16 Manual
-	timingOffsetsDualReturn := calculateTimingOffset(ReturnModeDualReturn)
-	require.InDelta(t, 0.0, timingOffsetsDualReturn[0][0], eps)
-	require.InDelta(t, 34.560, timingOffsetsDualReturn[15][0], eps)
-	require.InDelta(t, 55.296, timingOffsetsDualReturn[16][0], eps)
-	require.InDelta(t, 89.856, timingOffsetsDualReturn[31][0], eps)
-	require.InDelta(t, 0.0, timingOffsetsDualReturn[0][1], eps)
-	require.InDelta(t, 34.560, timingOffsetsDualReturn[15][1], eps)
-	require.InDelta(t, 55.296, timingOffsetsDualReturn[16][1], eps)
-	require.InDelta(t, 89.856, timingOffsetsDualReturn[31][1], eps)
-	require.InDelta(t, 642.816, timingOffsetsDualReturn[31][11], eps)
-}
-
-func TestInterpolateAzimuth(t *testing.T) {
-	sc, done := newPacketRecordingScanner(t, "testdata/recording.bin")
-	defer done()
-	for sc.Scan() {
-		var data [lengthOfPacket]byte
-		copy(data[:], sc.Bytes())
-		var packet Packet
-		packet.unmarshal(&data)
-		for blockIndex := 0; blockIndex < len(packet.Blocks); blockIndex++ {
-			block := packet.Blocks[blockIndex]
-			azimuth := block.Azimuth
-			for j := 0; j < len(packet.Blocks[0].Channels); j++ {
-				if j == 16 {
-					newAzimuth := interpolateAzimuth(blockIndex, &packet)
-					var testBool bool
-					if azimuth > 35980 { // approximate that holds as of now...
-						testBool = azimuth > newAzimuth
-					} else {
-						testBool = newAzimuth > azimuth
-					}
-					require.True(t, testBool)
-				}
-			}
-		}
-	}
-}
-
-func TestVerticalAngle(t *testing.T) {
-	require.Equal(t, deg2Rad(-15), verticalAngle(0))
-	require.Equal(t, deg2Rad(15), verticalAngle(15))
-	require.Equal(t, deg2Rad(7), verticalAngle(7))
-}
-
-func TestSpherical2XYZ(t *testing.T) {
-	laserID := 15                          // 15 degrees
-	azimuth := uint16(9000)                // 90 degrees
-	distance := uint16(1 / distanceFactor) // 1 meter
-	X, Y, Z := spherical2XYZ(laserID, azimuth, distance)
-	require.InEpsilon(t, X, 0.965925826289068, 0.000001)
-	require.InEpsilon(t, Y, 5.914589856893349e-17, 0.000001)
-	require.InEpsilon(t, Z, 0.258819045102521, 0.000001)
-}
-
-func TestDeg2Rad(t *testing.T) {
-	require.Equal(t, deg2Rad(0.0), 0.0)
-	require.Equal(t, deg2Rad(90), math.Pi/2)
-	require.Equal(t, deg2Rad(180), math.Pi)
-}