Write some Software to apply inertial measure data to laser points

We need to apply imu recordings to laser frames to locate and orientate the resulting points correctly. All are in csv format. Laser frames are generated at approx 600Hz, IMU records at 100Hz, IMU and Laser Frames are sync at 1Hz. Interpolation will be required, the IMU provides data to assist this. Output will be a forth result csv. There will be a single csv per laser frame, each frame will have approx 20000 to 30000 lines of data depending on the number returns with local co-ordinates. There will be several thousand frames. There will also be a seperate position file from the scanner, this will contain the laser scanner's position, time, and heading from the IMU but not corrected for pitch and roll. The position is only getting updating every second with the a timing pulse. This file is currently not getting written consistly and we are working on it. Where the laser has not registered the position the laser scanner defaults to its own clock which is in a different format. The IMU data will consist of a single csv. IMU position is given as Lat / long / m, the laser points as angles and distance from the laser position. Ideally, we would like a GUI, and the ability to combine the laser frames into user defined groups (i.e 10 frame csv's into 1 combined csv or 1000 frame csv's into 1 combined csv,etc). Selectable fields to carry over from the laser frames to the forth result csv would also be ideal. This is for a windows 64bit environment. ALternatively, the laser scanner pcap file is included. This could be used instead of the the first csv's from the laser scanner. It contains all the laser data. Sample data files and manuals from the laser scanner and imu are included at [login to view URL]