1. A method for automatically selecting at least one camera among a plurality of cameras disposed in a 3D map each of the plurality of cameras comprising a field of view and a 3D position, the method comprising: a) for each of the plurality of cameras, calculating a 3D projective transformation of the 3D map into the field of view of the camera; b) determining a 3D point anywhere in the 3D map; c) for each of the plurality of cameras, calculating a per-camera score with respect to the 3D point, each of the per-camera scores being calculated at least with respect to an indication of the visibility of the point in the calculated 3D projective transformation of 3D map into the field of view of the camera, the calculation comprising: i) extrapolating a plurality of sample 3D points along an extrapolated sampling distribution 3D shape generated around the 3D point; ii) calculating a per-sample score for each of the sample 3D points, and combining the per-sample scores to produce the per-camera score; d) automatically selecting the at least one camera with the highest per-camera score; and e) performing an action on the selected at least one camera.