warper->warp(img, K, cameras[img_idx].R, INTER_LINEAR, BORDER_REFLECT, imgWarped);
warper->warp(mask, K, cameras[img_idx].R, INTER_LINEAR, BORDER_CONSTANT, maskWarped);

cameras_global[imageCounter].ppx = 0.5 * image.size().width;
cameras_global[imageCounter].ppy = 0.5 * image.size().height;
cameras_global[imageCounter].focal = image.size().width * M_SQRT2;