1. A camera array, comprising: a plurality of imagers, where each imager comprises: optics comprising at least one lens element and at least one aperture that form an optical channel; an sensor comprising a two dimensional array of pixels and control circuitry for controlling imaging parameters; and at least one spectral filter located within the imager, where each spectral filter is configured to pass a specific spectral band of light; wherein the plurality of imagers are configured to capture images of the same scene; wherein the shape of at least one lens element of an imager of a first type that includes a spectral filter configured to pass a first spectral band of light differs from the shape of at least one lens element forming a second optical channel for an imager of a second type that includes a spectral filter configured to pass a second spectral band of light; wherein the images captured by the plurality of imagers include different occlusions sets, where the occlusion set of a given imager is the portion of a scene visible to a baseline imager in the plurality of imagers that is occluded from the view of the given imager; and wherein the plurality of imagers includes a first imager that captures pixels around an edge of a foreground object that is visible to the baseline imager and is in the occlusion set of a second of the plurality of imagers that has the same imaging characteristics as the first imager.