1. A depth perceptive camera system comprising: a first camera configured to capture infrared images; a second camera; a third camera arranged non-collinearly with the first and second cameras, the first, second, and third cameras having substantially overlapping fields of view in a direction, and at least one of the second and third cameras being configured to capture visible light images, the third camera being equidistant from the first and second cameras, the third camera having a higher resolution than a resolution of the first camera by a resolution factor r; and an image signal processor configured to receive images from the first camera, the second camera, and the third camera, the image signal processor being configured to detect a decalibration of the first, second, and third cameras, wherein a first baseline extends between the second camera and the first camera, wherein a second baseline extends between the second camera and the third camera, and wherein an angle α formed between the first baseline and the second baseline is approximately α optimal , where α optimal = argmax α { ( 2 × sin ( α ) + r × sin ( 2 α ) 3 ) - ( tan ( α ) 2 ) } .