1. A catadioptric camera system, comprising: a plurality of curved mirrors arranged into a mirror array for reflecting a desired 3D scene; a digital imaging system for capturing ray images of said curved mirrors, each of said ray images being a two-dimensional array of ray-structure picture-elements (ray-xels), each respective ray-xel including a light intensity measure according to a predefined color model, mirror-reflection location coordinates, and mirror-incident ray direction coordinates, wherein: said light intensity measure is indicative of the light intensity received at said respective ray-xel; said mirror-reflection location coordinates are indicative of a surface location on a corresponding curved mirror from which a reflected light ray travels from said corresponding curved mirror to said respective ray-xel, said reflected light ray being a reflection of an incident light ray from a point in said 3D scene to said surface location; and said mirror-incident ray direction coordinates are indicative of a vector direction of said incident light ray from said point in said 3D scene to said surface location.