What I'm doing:
I'm using this driver to get sensor_msg::poincloud2 messages. Then I do as follows (I want geolocalized points):
Pabs = Pimu + geo(Prel)
Where:
- Pabs -> Absolute position of a point, in lat long & altitude
- Pimu -> Absolute position of the gps+imu , in lat long & altitude
- Prel -> Position of a point, relative to the imu, in meters
- geo() -> Function that takes a position in meters, and translates it to lat and long (degrees)
After this, I just accumulate and save point clouds in .las format, using PDAL.
What I'm seeing:
Everything looks roughly fine, but some objects seem to be cloned multiple times. This effect appears to be noticeable when the truck takes curves, and is present in this picture.
What could be causing this? Is this a known issue?