1. A method for forming a stereoscopic image, the method implemented at least in part by a data processing system and comprising: receiving a main image of a scene including one or more foreground objects captured from a main image viewpoint together with a corresponding main image range map, wherein the main image includes a two-dimensional array of image pixels; receiving a background image of the scene without the one or more foreground objects captured from a background image viewpoint; specifying a first-eye viewpoint and a second-eye viewpoint; determining a first-eye image corresponding to the first-eye viewpoint and a second-eye image corresponding to the second-eye viewpoint, wherein at least one of the first-eye image and the second-eye image is determined by: synthesizing a warped main image by warping the main image to the corresponding first-eye viewpoint or second-eye viewpoint responsive to the main image range map and the main image viewpoint, wherein the warped main image includes one or more holes corresponding to scene content that was occluded in the main image; synthesizing a warped background image by warping the background image to the corresponding first-eye viewpoint or second-eye viewpoint responsive to the background image viewpoint; and determining pixel values to fill the one or more holes in the warped main image using pixel values at corresponding pixel locations in the warped background image; forming a stereoscopic image including the first-eye image and the second-eye image; and storing the stereoscopic image is a processor-accessible memory.