A system on a chip (SoC) includes a digital signal processor (DSP) and a graphics processing unit (GPU) coupled to the DSP. The DSP is configured to receive a stream of received depth measurements and generate a virtual bowl surface based on the stream of received depth measurements. The DSP is also configured to generate a bowl to physical camera mapping based on the virtual bowl surface. The GPU is configured to receive a first texture and receive a second texture. The GPU is also configured to perform physical camera to virtual camera transformation on the first texture and on the second texture, based on the bowl to physical camera mapping, to generate an output image.