Hi I am using velodyne VLP-16 LiDAR to acquire point cloud and using it while moving the LiDAR. By moving the LiDAR while scanning, I knew that some sort of distortion caused by the movement will be present because the motion is more than the update rate or scan time of the LiDAR. I use a GPS to map the point cloud into a global space frame but this is still done using the LiDAR timestamp which generated after one full scan of the sensor without taking into account of the scan-time of each point in the cloud.
I wanted to know is there any open example of how one compensate the motion distortion ? Or any advice on how to map/transform some certain areas/portion of point cloud, or each individual points (instead of a “full” point cloud) in to a certain position on Open3D?