Support for correcting radial and tangential distortion

[noorvir]

Is there something in the works for radial and tangential distortion correction? Since the Integrate function loops over the voxel grid, am I right in saying that implementing something like this would involve computing a mesh-grid of the image dimensions (640 x 480 for instance) and use that to compute the radial distance from the camera optical axis? You then only consider the point [pt_cam_x, pt_cam_y, pt_cam_z] if it is within the camera dimensions?

tsdf-fusion/demo.cu

Line 22 in ef59a08

for (int pt_grid_x = 0; pt_grid_x < voxel_grid_dim_x; ++pt_grid_x) {

Thanks