Camera array removing lens distortion

A computer-implemented method comprising:

• identifying, with one or more processors, a device identifier and a position of each camera module in a camera array;
• receiving video data comprising image frames from the camera modules;
• removing one or more lens distortion effects present in the image frames to map a three-dimensional real-world point onto an undistorted two-dimensional image by determining an angle of a normalized three-dimensional point, determining an undistorted distance to an optical center of a lens of one of the camera modules in the camera array, and determining (x, y) coordinates of a two-dimensional point of the undistorted two-dimensional image;
• stitching the image frames together based on the video data;
• generating three-dimensional video;
• synthesizing audio data;
• and
• generating a stream of three-dimensional video and the audio data for displaying panoramic Images.

A non-transitory computer-usable medium including instructions that when executed by a processor cause the processor to:

• identify a device identifier and a position of each camera module in a camera array;
• receive video data comprising image frames from the camera modules;
• remove one or more lens distortion effects from the image frames by to map a three-dimensional real-world point onto an undistorted two-dimensional image by determining a length of the three-dimensional real-world point, determining a normalized three-dimensional point, determining an angle of the normalized three-dimensional point, determining an undistorted distance to an optical center of a lens of one of the camera modules in the camera array, and determining (x, y) coordinates of a two-dimensional point of the undistorted two-dimensional image;
• stitch the image frames together based on the video data, wherein the image frames are stitched together based on a relative position of each camera module;
• generate three-dimensional video;
• synthesize audio data;
• and
• generate a stream of three-dimensional video and the audio data for displaying panoramic Images.