[NV] Support FTheta FOV beyond 180 degrees - #1050
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FTheta cameras with max_angle > pi/2 model more than 180 degrees of FOV, but forward projection previously rejected every ray with z <= 0. Remove that guard and determine validity from theta_full < max_angle and the image-bounds margin check. For max_angle <= pi/2, the validity flag remains unchanged. However, invalid rays now return their cone-clamped rim projection instead of the (0, 0) sentinel. Because the unscented transform includes invalid sigma points when require_all_sigma_points_valid is false, Gaussians straddling the camera plane now produce a more representative 2D footprint. Limit Euclidean near/far culling to LiDAR and FTheta, whose projection models accept rays with z <= 0. Pinhole, orthographic, and fisheye models retain camera-space z culling when global_z_order is false. Rendering the beyond-180-degree FTheta band requires global_z_order=false throughout the pipeline. This also uses Euclidean distance for depth sorting and the D/ED depth channel.
vince-brisebois
approved these changes
Aug 20, 2026
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This PR cherry-picks support for FTheta camera FOVs > 180 degrees for upstreaming.