dwLocalization_initParamsFromRig does not support pinhole camera model?

I installed DRIVE Software 10 on Linux 18.04 successfully. I modified the sample localization application so that it can handle pin hole camera. The application crashed with the following error message

[31-12-2020 14:44:28] Driveworks exception thrown: DW_NOT_SUPPORTED: Localization: given camera sensor with index ‘0’ is not a FTheta camera. Only FTheta models are supported.

terminate called after throwing an instance of ‘std::runtime_error’
what(): [2020-12-31 14:44:28] DW Error DW_NOT_SUPPORTED executing DW function:
dwLocalization_initParamsFromRig( m_localizationParams, m_rigConfig, cameraIndices.size(), cameraIndices.data())
at /usr/local/driveworks/samples/src/localization/LocalizationAppCommon.cpp:156
Aborted (core dumped)

It looks like only FTheta model camera is supported by the localization module. I don’t find any reference to this limitation in the SDK documentation. Just want to confirm this is indeed the case.

Dear @yuzhang,
Yes. only Ftheta models are supported.