Broken frame undistortion
Description
Frame undistortion (with Slam::Undistortion = true
) seems to be broken, leading to severely wrong results.
Undistortion is also not handled in Pose Graph Optimization.
Possible sources of error (to investigate) :
- wrong interpolation (currently, time is interpolated using
intensity
field !) - wrong null-acceleration prior
Suggestions
It would be easier to undistord incoming frame once and for all at the beginning of Slam::AddFrame()
.