One of the engineering teams I work with is building an image pipeline to correct rolling shutter distortion from a robot camera. I still have no idea how they'

One of the engineering teams I work with is building an image pipeline to correct rolling shutter distortion from a robot camera. I still have no idea how they're generalizing a solution to different types of movement and angular velocities, but at least now I understand the problem and a taste of the math behind it. Thanks for sharing!