1. A method of calibrating a system for capturing a 3-D array of points comprising: providing a camera and projector directed at an image capture field; placing an imaging plane containing a plurality of identifiable points thereon at a plurality of orientations within the image capture field; projecting a sequence of structured-light patterns onto said imaging plane; capturing a series of images of said imaging plane each image corresponding each of said structured-light patterns in said sequence; repeating said projecting and capturing steps to generate a series of images for each of said plurality of orientations of said imaging plane; and estimating calibration parameters for the camera and projector from the series of images for each of said plurality of orientations of said imaging plane.