1. A computer-implemented process for calibrating an array of capture devices, comprising the process actions of: using hybrid capture devices, which capture both intensity data and depth data, to simultaneously capture depth maps and corresponding intensity images of a scene; finding common features in the depth maps from two hybrid capture devices; automatically computing a rough calibration of extrinsic parameters of the hybrid capture devices, comprising both rotations and translations which detail the spatial location of each of the hybrid capture devices as well as the direction that the hybrid capture device is pointing using the shared depth map features.