awesome ROS package that include :
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a class OmniCamera -> handle an Omnidirectional Camera
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a class OmniCameraRig -> handle a Rig of Omnidirectional Cameras
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a class SingleImageHandler -> handle image from a single ROS topic
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a class SyncImageHandler -> handle image from multiple ROS topics in a synchronized way (so far limited to 2 topics)
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demo of interfacing OmniCameraRig with Oculus Rift (through sensor_msgs::PointCloud + rviz)
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demo of panoramic view from OmniCameraRig