Questions on ftheta model

I’ve learned from here that DriveWorks’ ftheta camera model follows the paper in the post.

However, dwFThetaCameraConfig class does not have m_u, m_v as in Eq. 11 in the paper. These numbers are needed to transform points from normalized coordinates to pixel coordinates.

Does it mean those scale factors have already been incorporated into backwardsPoly?

What is the actual full projection equation from (\theta, \phi) to pixel coordinates using dwFThetaCameraConfig?

(Sorry, I can’t post the links as Nvidia forum doesn’t allow new users to post more than 1 links)

Please provide the following info (check/uncheck the boxes after creating this topic):
Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.8.0.10363
other

Host Machine Version
native Ubuntu 18.04
other

Please see if the below topics help with your questions.

You may try to provide the link by reply to this topic?

post2 with the white paper is super helpful. Thanks!