Dynamic integrator behavior with horizontal movement of LiDAR

[VeeranjaneyuluToka]

Hi,

I noticed that dynamic integrator works fine when there is yaw angle/vertical LiDAR movement but it does not work correctly when there is pitch angle / horizontal LiDAR movement while capturing data.

Is there any limitation in dynamic integrator wrt pitch angle movement?

[koide3]

Hmm, basically there is no specific assumptions on the sensor motion in the dynamic integrator, and it should work for pitch and horizontal movements. If possible, could you share a video of the processing result?

[VeeranjaneyuluToka]

Here is the prerocessing output when i have movement horizontally. You can clearly notice that the vertical lines are not fused correctly .