Omnidirectional catadioptric lens with odd aspheric contour or multi-lens

A generally conical element is defined about a vertical axis and having a tip on the vertical axis, and a generally conical odd aspheric contour mirror surface that is defined upward from the tip relative to the vertical axis. A toroidal lens element, disposed to capture light data input of a surrounding scene reflected from the odd aspheric contour mirror surface, has a cross-section shape defined relative to a plane passing through the toroidal lens element and including the vertical axis and is defined by revolving a convex or concave lens surface cross-section shape around the vertical axis, the convex or concave lens surface cross-section shape defined from another axis parallel to the vertical axis but offset, wherein the toroidal lens element cross-sectional shape is constant in rotation about the vertical axis and imparts a toroid shape to the toroidal lens element relative to the vertical axis.