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, i.e. ray-xels, each respective ray-xel having ray-xel data including a light intensity measure according to a predefined color model, mirror-reflection location information, and mirror-incident ray direction information, wherein: said light intensity measure is indicative of the light intensity received at said respective ray-xel; said mirror-reflection location information is 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 information is indicative of the ray direction of said incident light ray from said point in said 3D scene to said surface location.