diff --git a/perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py b/perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py
index 29df6c0c..67ff9478 100644
--- a/perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py
+++ b/perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py
@@ -351,9 +351,6 @@ def _convert(self) -> None:
         if self._with_vehicle_status:
             self._convert_vehicle_state()
 
-        if self._with_vehicle_status:
-            self._convert_vehicle_state()
-
     def _calc_start_timestamp(self) -> float:
         if self._start_timestamp < sys.float_info.epsilon:
             start_timestamp = self._bag_reader.start_timestamp + self._skip_timestamp
diff --git a/perception_dataset/utils/rosbag2.py b/perception_dataset/utils/rosbag2.py
index 1e8ed149..a98fc8fc 100644
--- a/perception_dataset/utils/rosbag2.py
+++ b/perception_dataset/utils/rosbag2.py
@@ -169,8 +169,7 @@ def pointcloud_msg_to_numpy(pointcloud_msg: PointCloud2) -> NDArray:
     points = point_cloud2_to_array(pointcloud_msg)
 
     # Extract the x, y, z coordinates and additional fields if available
-    xyz = points["xyz"]
-    points_arr = xyz
+    points_arr = points["xyz"]
     if "intensity" in points.keys():
         intensity = points["intensity"].astype(np.float32)
         points_arr = np.hstack((points_arr, intensity))