An optical transmitter of a subscriber optical interface and an optical receiver of a laser transceiver node can be designed to a frequency of data that is formatted according to a predetermined network protocol, that is encoded with a predetermined coding scheme, and that is transmitted according to a predetermined data transmit timing scheme. The signal processing method and apparatus includes steps and functions of calculating a covariance matrix, estimating at least two time invariance vectors by performing an eigen-disintegration operation, estimating a channel vector and outputting a beam-forming vector. The 3D range data set is represented as a first displayed image while each 2D image data set is represented as at least a second displayed image.