System and method for generating training images

A computer implemented method of automatically generating a training set of images, the method comprising:

• obtaining an image in which each pixel represents a 3 dimensional ‘3D’ point on the surface of a sphere;
• obtaining a projective camera model comprising a projection matrix which defines a projective transformation to map 3D points on the surface of a sphere onto an image plane based on camera model parameter values;
• applying the projective camera model with selected camera model parameter values to the image to produce a rectilinear image;
• storing the rectilinear image in association with the selected camera model parameter values;
• and
• repeating the applying and storing for different selected camera model parameter values.

A computer program comprising computer readable instructions which, when executed by a processor of a computer cause the computer to carry out a method comprising:

• obtaining an image in which each pixel represents a 3 dimensional ‘3D’ point on the surface of a sphere;
• obtaining a projective camera model comprising a projection matrix which defines a projective transformation to map 3D points on the surface of a sphere onto an image plane based on camera model parameter values;
• applying the projective camera model with selected camera model parameter values to the image to produce a rectilinear image;
• storing the rectilinear image in association with the selected camera model parameter values;
• and
• repeating the applying and storing for different selected camera model parameter values.