Lidar camera model distortion coeffs left 0

[pratro]

How is the lidar distorted using the camera distortion coeffs (or alternatively how is the camera undistorted) prior to feature creation and matching?

In preprocess.cpp, the distortion coeffs are not passed through from the camera

auto lidar_proj = camera::create_camera(lidar_camera_model, lidar_camera_intrinsics, {});

and therefore later in generate_lidar_image.cpp, the 'proj' doesn't contain any distortion.

Is this a bug or am I misinterpreting.

Thank you so much!

[themightyoarfish]

I haven't looked at the code, but why would the synthetic lidar image need distortion parameters? Since it's a virtual camera, there's no reason to use distortion.