Distortion Handler Library¶

TUM Autonomous Motorsport package for point cloud undistortion

Implemented Formats¶

1. POLYNOM/CUDA_POLYNOM
   • stores a pose history (usually set from the tf transform odom_frame -> child_frame in the node's cloud callback)
   • stores the most recent 0.2s of pose history (Sophus::SE3f)
   • fits a polynom of configurable degree (compile-time parameter) to the log-poses xi_i = log(T_ref^-1 * T_i), i.e. the se(3) twist coordinates of each history pose relative to a reference pose T_ref. T_ref is the SLERP-interpolated pose at the frame stamp and cancels out per point, so evaluating and exponentiating the polynom yields the deskewing correction directly
   • performs in-place undistortion by evaluating the polynom for each point timestamp and applying point.pos = exp(poly(t)) * point.pos
   • skips undistortion when fewer than two poses are available or the estimated velocity is below vel_threshold