1. A method for executing depth image-based rendering of a 3D image from one or more color cameras and at least one depth camera by a computer having a processor and memory, the method comprising: propagating, by the computer, depth information from the at least one depth camera to an image plane of each color camera to produce a propagated depth image at each respective color camera, where propagating includes 3D warping with the depth camera considered as a first reference view and each color camera respectively being considered as a first target view, where the one or more color cameras and the at least one depth camera are positioned arbitrarily at different locations relative to a scene to be rendered; enhancing, by the computer, the propagated depth image at each color camera with the color and propagated depth information thereof to produce corresponding enhanced depth images; and rendering, by the computer, a complete image viewable on a screen of the computer from one or more enhanced depth images from the one or more color cameras.