Using opencv to create a panoramic image from 3d points

Using opencv to create a panoramic image from 3d points

I have a PointGrey Ladybug3 Camera. It's a panoramic (multi)camera (5
camera to do a 360º and 1 camera looking up). I've done all the
calibration and rectification so what I end up is from all pixels of the 6
images I know it's 3d position wrt a global frame. What I would do now is
convert this 3d points to a panoramic image. The most common is a radial
(Equirectangular) projection like the following one:
http://www.ptgrey.com/support/downloads/documents/ladybugSDK/images/ladybugcappro/radial_resize.jpg
For all the 3D points (X,Y,Z) it's possible to find theta and phi
coordinate like:
http://www.ptgrey.com/support/downloads/documents/ladybugSDK/images/ladybugcappro/Radial%20Projection%20Equation.PNG
My question is, Is it possible to do this automatically with opencv? Or if
I do this manually what is the best way to convert that bunch of pixels in
theta,phi coordinates to an image?
The official ladybug SDK uses OpenGL for all this operations, but I was
wondering if it's possible to do this in opencv.
Thanks,
Josep