1. A method for converting a region of a wide-angle image into a rectilinear image, the method comprising: converting, by a first processor coupled to a memory storing at least a portion of the region of a wide-angle image, a location of a pixel in the rectilinear image into a 3-D position relative to the rectilinear image; in response to a pan parameter, applying, by the first or a second processor, a first rotation matrix to the 3-D position; in response to a tilt parameter, applying, by the first, second or a third processor, a second rotation matrix to the 3-D position; mapping the 3-D position to a location of one or more pixels in the wide-angle image; and setting attributes of the pixel in the rectilinear image using attributes of the one or more pixels in the wide angle image.