Fisheye Lens Structure, Housing, Image Capture, and Image Processing

An image capture device comprising:

• a camera configured to capture video frames of a scene surrounding the camera, the camera comprising a first lens with a first field of view and a lens attachment with a second lens with a second field of view wider than the first field of view, wherein the lens attachment is removeable;
• and
• a processor communicatively coupled to the camera, wherein the processor is configured to:
• receive a video frame captured by the camera through the lens attachment, wherein the video frame is captured in a three-dimensional coordinate space;
• and
• generate a two-dimensional projection of the video frame by mapping pixels of the video frame from the three-dimensional coordinate space to a two-dimensional coordinate space using a distortion model that characterizes at least a focal length of the second lens.