Integrating radial distortion into the perspective rendering pipeline

Incorporate radial distortion effects into the perspective image generation pipeline used to construct the Puffin‑4M dataset by introducing an additional distortion parameter vector into the camera model rather than assuming an ideal pinhole camera.

Background

The Puffin‑4M dataset is generated by rendering perspective images from panoramic sources using a pinhole camera model with sampled roll, pitch, and vertical field of view. This simplifies image formation by excluding lens distortion.

The authors explicitly state that extending the pipeline to include radial distortion via an additional parameter is deferred, indicating a concrete unresolved step to better approximate real camera behavior.