The H300 point cloud was solved with some misalignment, with the interior point cloud misaligned to the outside of the building.
There is a turn-in-place as well as a crouching motion when collecting into the interior, resulting in a disorganized trajectory for that portion of the trajectory, which may affect the collection. It is recommended to maintain an even and smooth movement when entering indoors from outdoors. Misaligned point clouds can be removed by classification.